An optical pickup includes a light source emitting a light beam, a diffraction element diffracting the light beam to separate it into a main beam and a sub beam, an objective lens focusing the main and sub beams onto a desired recording layer of an optical disc, a lens moving section moving the objective lens in focusing and tracking directions, a light-separating element separating a reflected light beam, formed by reflecting each of the main and sub beams at the recording layer, into multiple beam components and allowing the reflected light beam to travel without rotating an image thereof, and a light-receiving element having multiple light-receiving regions that optically receive the reflected light beam and generating a light reception signal based on the amount of received light to allow a signal processing section to generate a focus error signal and a tracking error signal based on the light reception signal.