The joint between articular processes between adjacent vertebrae is 

Gliding joints (also known as plane joints) allow for limited sliding or gliding movements between flat or slightly curved articular surfaces. The joints between the articular processes of adjacent vertebrae permit such gliding movements.

Condyloid joints are characterised by an oval-shaped condyle fitting into an elliptical cavity, allowing for flexion, extension, abduction, adduction, and circumduction movements. Examples include the radiocarpal joint (wrist joint).
Pivot joints allow for rotation around a central axis. An example is the atlantoaxial joint between the atlas (C1) and axis (C2) vertebrae.
Hinge joints permit movement primarily in one plane, like flexion and extension. The elbow joint is an example of a hinge joint.