We give explicit formulas for Whittaker functions for the class one principal series representations of the orthogonal groups SO2n+1(R) of odd degree. Our formulas are similar to the recursive formulas for Whittaker functions on SLn(R) given by Stade and the author [9]. Some parts of our results are announced in [8].where w 0 is the longest element in W. We refer to this Jacquet's Whittaker function as class one Whittaker function. Inspired by the work of Harish-Chandra, Hashizume [3] proved an expansion formula for the class one Whittaker function:Here c ′ (ν) is a product of c-functions and certain ratio of gamma functions and M ν,η is a power series solution (we call it fundamental Whittaker function) of the system (2) around the regular singularity. We will recall the results of Hashizume in section 1.Despite the development of the study of the expansion formulas, explicit formulas of the spherical functions or Whittaker functions themselves seem to be still missing in most cases. It is necessary to understand deeper the both sides of the expansion formula above for serious applications to automorphic forms.As for the fundamental Whittaker functions, recurrence relations characterizing the coefficients of them are easily given since they are essentially controlled by the Casimir operators. At the present these coefficients for SL 3 (R), SO 5 (R) and SL 4 (R) are known to be expressed in terms of (terminating) generalized hypergeometric series 2 F 1 (1)(=ratio of gamma functions by Gauss' formula), 3 F 2 (1) and 4 F 3 (1), respectively (see [1], [7], [14]). But such a direction, that is, unit arguments of generalized hypergeometric series do not seem be appropriate. Recently Stade and the author [9] reached a very satisfactory expression, which is a recursive relation between SL n−1 (R) and SL n (R). In section 2, a similar formula for SO 2n+1 (R) will be given.Jacquet integrals are actually integral representations of class one Whittaker functions. But it does not seem to be suitable form for applications to automorphic forms, such as computations of archimedean L-factors, or giving sharp estimates for Whittaker functions. Then we need to modify Jacquet integrals to more desirable expressions such as Mellin-Barnes type. In the case of SL 2 (R) the class one Whittaker function is essentially the modified K-Bessel function and it has the integral representations