The lens holding structure of the disclosure includes a lens; and a holding frame including a seat surface and holding the lens, wherein an inclination in a yaw direction and an inclination in a pitch direction of the lens in a state where the lens is brought into contact with the seat surface are substantially equal to an inclination in a yaw direction and an inclination in a pitch direction of the lens in a state where the lens is held by the holding frame, and a clearance is formed between the lens and the seat surface.