It is shown that the Euler angles can be generalized to axes other than members of an orthonormal triad. As first shown by Davenport, the three generalized Euler axes, hereafter: Davenport axes, must still satisfy the constraint that the first two and the last two axes be mutually perpendicular if these axes are to define a universal set of attitude parameters. Expressions are given which relate the generalized Euler angles, hereafter: Davenport angles, to the 3-1-3 Euler angles of an associated direction-cosine matrix. The computation of the Davenport angles from the attitude matrix and their kinematic equation are presented. The present work offers a more direct development of the Davenport angles than Davenport's original publication and offers additional results.