An imaging device includes: a plurality of optical systems each forming an image of a subject; a plurality of imaging sensors corresponding to the respective plurality of optical systems; and a housing part that houses the plurality of optical systems and the plurality of imaging sensors, the housing part having a peripheral surface along a circumferential direction about a reference axis, wherein: at least two of the plurality of optical systems each have: a peripheral lens arranged along the peripheral surface and located closest to an object; and a first optical path, the first optical paths of the at least two optical systems intersecting each other; and each of the peripheral lenses has a longitudinal direction, the peripheral lens being arranged along the peripheral surface such that the longitudinal direction extends along the reference axis.