The obliquity, or angular separation between orbit normal and spin pole, is an important parameter for the geodynamics of most Solar System bodies. Tidal dissipation has driven the obliquities of the Galilean satellites of Jupiter to small, but non-zero values. We present estimates of the free and forced obliquities of these satellites using a simple secular variation model for the orbits, and spin pole precession rate estimates based on gravity field parameters derived from Galileo spacecraft encounters. The free obliquity values are not well constrained by observations, but are presumed to be very small. The forced obliquity variations depend only on the orbital variations and the spin pole precession rate parameters, which are quite well known. These variations are large enough to influence spatial and temporal patterns of tidal dissipation and tidal stress.