A lens driving device includes a lens frame that holds a lens, a rack provided pivotally with respect to the lens frame around a pivot shaft along an optical axis of the lens, a lead screw provided along the optical axis, a spring that makes the rack pivot around the pivot shaft, pushes the rack against the lead screw, and engages a tooth of the rack with a tooth of the lead screw, a driving unit that rotates the lead screw, and a nut that includes an end surface facing the rack along the optical axis with a gap C being included therebetween, that engages with the lead screw with backlash being included therebetween, and that is provided un-rotatably with respect to the lens frame. In a case where a half pitch of the tooth of the lead screw is A and the backlash along the optical axis between the lead screw and the nut is B, A>B+C is satisfied.