We report the design and construction of a two-axis goniometer capable of any sample orientation with respect to the external magnetic field. The advantage of this design is that it allows free rotations around a single axis independent of the other which minimizes rotational error without reduction of the angle range. Goniometer is capable of operating with high precision at both low and high temperatures and in high magnetic fields. To test its performance, it was mounted on the custom made nuclear magnetic resonance probe for use in an Oxford Instruments wide-bore variable field superconducting magnet.