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3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints in the spatial and temporal domains. While they had shown excellence in long-range dependencies, studies have noted the need for improving the locality of vision Transformers. In this direction, we propose a novel pose estimation Transformer featuring rich representations of body joints critical for capturing subtle changes across frames (i.e., inter-feature representation). Specifically, through two novel interaction modules; Cross-Joint Interaction and Cross-Frame Interaction, the model explicitly encodes the local and global dependencies between the body joints. The proposed architecture achieved state-of-the-art performance on two popular 3D human pose estimation datasets, Human3.6 and MPI-INF-3DHP. In particular, our proposed CrossFormer method boosts performance by 0.9% and 0.3%, compared to the closest counterpart, PoseFormer, using the detected 2D poses and ground-truth settings respectively.