An insertion device includes a cylindrical base member extending with a longitudinal axis being an axial center, a driving source generating a movement driving force to move a movement section, and a line portion extending inside an inserting section along a line core axis parallel to the longitudinal axis and transmitting the movement driving force to the movement section. The insertion device includes a coupling member transmitting a vibration generated in the driving source to the base member in a state that the driving source is caused to vibrate by a load acted on the movement section, and a grip to which the vibration generated in the driving source is transmitted from the base member.
