PROBLEM TO BE SOLVED: To provide an imaging device that can be miniaturized without being restricted by the size of a mechanism that drives the device, and can stably perform the movement of a visual field over a wide range for long hours and a long period with a high degree of precision even in a small movable space, and an endoscope.SOLUTION: An imaging device includes: an observation optical system a holding part for holding the observation optical system an oscillating part for oscillating the holding part a drive part for driving the oscillating part and a plurality of connection parts one side of which is rotatably connected to the holding part, and the other side of which is rotatably connected to the oscillating part, and which constitute a linkage mechanism together with the holding part and the oscillating part. The holding part is oscillated in conjunction with the oscillation of the oscillating part through the connection part.
