A camera driving apparatus according to the present invention includes: a camera section with an imaging plane; a movable unit which houses the camera section inside and includes an attracting magnet and a convex partial sphere on its outer surface; a fixed unit which has a depressed portion in which a magnetic body and the movable unit are loosely fit, which brings the convex partial sphere of the movable unit into a point or line contact with the depressed portion under magnetic attractive force of the attracting magnet to the magnetic body, and which allows the movable unit to rotate freely on the spherical centroid of the first convex partial sphere; a panning driving section; a tilting driving section; a rolling driving section; a lens driving section; an image sensor driving section; a first detector which detects the tilt angles of the camera section in the panning and tilting directions with respect to the fixed unit; a second detector which detects the angle of rotation of the camera section that is rotating in the rolling direction; and a third detector which detects the magnitudes of shift of the image sensor along the panning rotation axis and the tilting rotation axis.