Disclosed herein is an imaging device including: an imaging lens configured to have an aperture stop; an imaging element configured to include a plurality of pixels two-dimensionally arranged along a longitudinal direction and a lateral direction and acquire imaging data based on received light; and a microlens array configured to be disposed between the imaging lens and the imaging element and include a plurality of microlenses, a pixel area composed of m×n pixels (m and n denote a number equal to or larger than 2 in the longitudinal direction and the lateral direction) in the imaging element being assigned to a respective one of the microlenses, wherein positional displacement smaller than a width of one pixel is set between the microlens and the pixel area.