It is an object of the present invention to drive a mirror in a wide driving range and at a fast response speed. An imaging device 100 includes an imaging element 103, a mirror 102, a lens 101, and a mirror tilt actuator 110. The imaging element 103 images subject light that is reflected light from a subject. The mirror 102 reflects the subject light, and makes the subject light incident on the imaging element 103. The lens 101 collects the subject light on the mirror 102. The mirror tilt actuator 110 drives the mirror 102 so as to change an optical axis of the lens OAL. The optical axis of the lens OAL is an optical axis to be incident on the central part C of the imaging element 103 in the subject light exited from the lens 101.