The apparatus is miniaturized by acquiring a plurality of images in parallel without suppressing shading and crosstalk and shifting the microlens (ML) of the image sensor. An objective optical system (2) that forms two subject images in parallel, and an imaging device (4) that has a plurality of MLs arranged on the incident side from the objective optical system and that assigns a pixel to each ML. The center of the photosensitive portion of each pixel is displaced so as to gradually increase from the center of the image sensor to the periphery with respect to the ML optical axis, and the exit pupil position of the objective optical system is more than the imaging position of the objective optical system. An endoscope imaging apparatus that is on the object side and satisfies the conditional expression (1). 0.5 ≦ (θH−θD) / α ≦ 3 (1) where α is the angle formed by the principal ray of the horizontal maximum image height and the optical axis, and θH is the maximum horizontal image height from the center of the image sensor. The principal ray correction amount (angle) of ML corresponding to the position (H), and θD is the principal ray correction amount (angle) of ML on the distance D from the center of the image sensor. The distance D is a distance between the intersection of the image sensor and a line drawn from the exit pupil position of the objective optical system to the image sensor center by α degrees with respect to the image sensor center.シェーディングやクロストークを抑制し撮像素子のマイクロレンズ（ＭＬ）をシフトさせずに複数の画像を並列的に取得して装置の小型化を図る。並列的に２つの被写体像を結像させる対物光学系（２）と、対物光学系からの入射側に配列された複数のＭＬを有しＭＬ毎に画素を割り当てた撮像素子（４）とを備え、各画素の感光部中心がＭＬの光軸に対して撮像素子中央部から周辺部に従って徐々に大きくなるように変位し、対物光学系の射出瞳位置が対物光学系の結像位置よりも物体側であり、条件式（１）を満たす内視鏡用撮像装置。 ０．５≦（θＨ－θＤ）／α≦３ （１） 但し、αは水平方向最大像高の主光線と光軸とのなす角であり、θＨは撮像素子中心部から水平方向最大像高（Ｈ）の位置に対応するＭＬの主光線補正量（角度）であり、θＤは、撮像素子中心部からの距離Ｄ上のＭＬの主光線補正量（角度）である。距離Ｄとは、撮像素子中心部に対する、対物光学系の射出瞳位置からα度分撮像素子中心部へ引いた線と撮像素子との交点との距離である。
