diff --git a/multibody/tree/joint.h b/multibody/tree/joint.h
index 028c80bf4f2c..380bd18e4cab 100644
--- a/multibody/tree/joint.h
+++ b/multibody/tree/joint.h
@@ -532,11 +532,9 @@ class Joint : public MultibodyElement<Joint, T, JointIndex> {
     return *implementation_;
   }
 
-  /// Returns whether `this` joint owns a particular implementation. 
+  /// Returns whether `this` joint owns a particular implementation.
   /// If the MultibodyTree has been finalized, this will return true.
-  bool has_implementation() const {
-    return implementation_ != nullptr;
-  }
+  bool has_implementation() const { return implementation_ != nullptr; }
 
  private:
   // Make all other Joint<U> objects a friend of Joint<T> so they can make
diff --git a/multibody/tree/prismatic_joint.h b/multibody/tree/prismatic_joint.h
index f88050ae418b..8018d244db2c 100644
--- a/multibody/tree/prismatic_joint.h
+++ b/multibody/tree/prismatic_joint.h
@@ -185,7 +185,8 @@ class PrismaticJoint final : public Joint<T> {
 
   /// @}
 
-  /// Gets the default translation. Wrapper for the more general `Joint::default_positions()`.
+  /// Gets the default translation. Wrapper for the more general
+  /// `Joint::default_positions()`.
   /// @returns The default translation of `this` stored in `default_positions_`.
   double get_default_translation() const {
     return this->default_positions()[0];
diff --git a/multibody/tree/revolute_joint.h b/multibody/tree/revolute_joint.h
index 83afe9c4ddf9..c6658c9d2824 100644
--- a/multibody/tree/revolute_joint.h
+++ b/multibody/tree/revolute_joint.h
@@ -219,7 +219,8 @@ class RevoluteJoint final : public Joint<T> {
 
   /// @}
 
-  /// Gets the default rotation angle. Wrapper for the more general `Joint::default_positions()`.
+  /// Gets the default rotation angle. Wrapper for the more general
+  /// `Joint::default_positions()`.
   /// @returns The default angle of `this` stored in `default_positions_`
   double get_default_angle() const { return this->default_positions()[0]; }