An endoscope system capable of accurately recognizing directions and ranges in a subject that a forward field of view image and lateral field of view images correspond is provided. The endoscope system includes: an insertion portion 4 inserted into the subject a forward image pickup device 15a configured to acquire a first subject image from a first direction an image pickup device 15b configured to acquire a second subject image from a second direction and an image processing section 32a configured to generate a birds-eye view image 17 based on a birds-eye view subject image looking down on the subject from a virtual point of view away from the insertion portion and configured to execute a process of associating the first subject image and the first direction in the birds-eye view subject image and associating the second subject image and the second direction in the birds-eye view subject image.
