An endoscope includes: an insertion portion including a distal end rigid portion, a bending portion, and an endoscope tube portion； an image pickup apparatus including an image pickup device； a first optical system having a first optical axis which is in parallel with a longitudinal axis； a second optical system including a first objective optical system having a second optical axis intersecting with the first optical axis, the second optical system being configured to bend the second optical axis to make the second optical axis coincident with the first optical axis； and a rotation driving apparatus that rotates the image pickup device, the first optical system, and the second optical system together around a rotation axis which is in parallel with the first optical axis.
