An objective lens driving device includes an objective lens holder that holds an objective lens, plural elastic supporting members through that support the objective lens holder, tracking coils and that drive the objective lens holder in the tracking direction, tilting coils that tilt the objective lens holder with respect to the optical axis passing through the objective lens, a tracking control circuit that drives the tracking coils, and a tilting control circuit that drives the tilting coils. The tilting control circuit drives the tilting coils using a signal yielded by multiplying a tracking driving signal from the tracking control circuit by a specific scaling factor so as to cancel out a tilting force of the objective lens holder generated by the tracking coils.