A rotary self-propelled endoscope, including: a tubular outer shaft having an elongated insertion section main body with a distal end portion which is rotatable around a longitudinal axis and has at least partially a surface formed to have a helical configuration; an inner shaft which is rotatably inserted through the outer shaft and is coupled to the distal end portion of the insertion section main body; and a motor unit which causes the inner shaft to rotate around the longitudinal axis from the proximal end side.