An imaging device includes an angular velocity sensor for detecting an angular velocity of shake and a motion vector detection unit for detecting a motion vector of an object from a plurality of images successively imaged by an imaging element. A frame rate change unit changes a value of a frame rate related to an image used to detect the motion vector of the object according to the angular velocity of shake of the imaging device. The object angular velocity calculation unit calculates an angular velocity of an object with respect to the imaging device based on the angular velocity of shake of the imaging device and the motion vector of the object. A panning controller performs control to reduce a difference between the angular velocity of the object and the angular velocity of shake of the imaging device using drive control of a shift lens group.