A stereoscopic imaging apparatus includes: an objective optical system that forms a subject as a real or virtual image. Light beams of the subject, emitted in different paths of the objective optical system by independent optical systems, are imaged again as a parallax image, which is converted into an image signal. A control unit moves a front-side principal point of each of the imaging optical systems, so that the ratio of the length of a perpendicular line from that front-side principal point to the optical axis of the objective optical system with respect to the length of a line connecting the point at which the perpendicular line and the optical axis intersect and the focal point of the objective optical system becomes constant.