An imaging optical system includes, in order from an object side to an image side, a first lens group having negative optical power, a second lens group having positive optical power, a third lens group having negative optical power, and a fourth lens group with negative optical power. A lens disposed closest to the object side in the second lens group has a concave surface directed toward the object side, and a lens disposed closest to the object side in the fourth lens group has positive optical power. Each distance between the lens groups changes when zooming from a wide-angle end to a telephoto end on photographing.