An insertion device includes a movement section provided in an inserting section or an attachment unit attached to the inserting section, and moving to cause a propulsive force to act on the inserting section, a holdable grip provided to a proximal direction side with respect to the inserting section, and a driving source driven so as to generate a movement driving force to move the movement section. The insertion device includes a base member to which the grip is abutted, and a coupling member including a driving source-side abutting surface to which an outer peripheral surface of the driving source is abutted, and coupling the driving source to the base member.