A panoramic imaging device comprises: a photodetector array; a lens array having, on one plane, a center lens for receiving light in a front range of 36 DEG to form a central unit image on the photodetector array, and left and right side lenses for receiving lights in left and right ranges each of 72 DEG in capture angle of 180 DEG ; and four prisms in two pairs placed facing the side lenses. The two pairs of left and right prisms (more inclined and less inclined pairs) collect lights in divided two pairs of left and right ranges each of 36 DEG in the 72 DEG range (pairs closer to, and farther from, the front range), respectively, to form four side unit images on the photodetector array which are combined with the central unit image to reproduce a panoramic image without using wide-angle lenses or complex image correction process.