Optical scanning device 1 according to the present invention includes: main movable portion 10; a pair of torsionally deformable main torsion beams 21 and 22 arranged opposite to each other at both ends of main movable portion 10 and swingably supporting main movable portion 10; and main driving unit 30 that drives main movable portion 10 to oscillate. Main movable portion 10 includes mirror unit 11 having reflection surface 11a for reflecting light, and a pair of permanent magnets 12 and 13 arranged opposite to each other to sandwich mirror unit 11, each permanent magnet extending along oscillation axis X-X of main movable portion 10. Main driving unit 30 includes yoke unit 31, 32, and 33 arranged along oscillation axis X-X of main movable portion 10 to surround permanent magnets 12 and 13, and coil 34 wound on yoke unit 31, 32, and 33 and configured to be energized to magnetize yoke unit 31, 32, and 33, thereby generating magnetic fields to be applied on permanent magnets 12 and 13.