An imaging device for a vehicle and a vehicle are disclosed. The imaging device includes: a casing, a camera, a wiping member, and a drive device. The casing includes a casing body and a transparent cover disposed to the casing body, and the transparent cover is rotatable relative to the casing body. The camera is disposed in the casing and configured to obtain image information outside the transparent cover through the transparent cover. The wiping member is disposed to the casing and is stationary relative to the camera. The drive device is connected with the transparent cover and configured to drive the transparent cover to rotate to enable the wiping member to wipe an outer surface of the transparent cover.