The invention discloses a motion adaptive common-path OCT endoscope system. The system comprises an infrared source for irradiating a sample, a guiding light source, a wavelength division multiplexing coupler, a common-path OCT endoscope probe, a detector and a host, wherein a light beam emitted from the guiding light source and the light beam of the infrared source are joined to irradiate the sample; the wavelength division multiplexing coupler is used for joining the light beam of the infrared source and the beam of the guiding light source; the common-path OCT endoscope probe is used for performing real-time optical imaging on an observed sample; the detector is used for converting an optical signal into an electric signal; and the host is used for sending out an instruction to control the common-path OCT endoscope probe to move. The motion adaptive common-path OCT endoscope system is adopted to solve the technical problems that the quality of an interference signal is reduced since two paths of uncommon-path OCT endoscope system are in different environments and are interfered by chromatic dispersion, temperature and other factors; optical path fit of a sample arm and a reference arm is required before imaging of an existing common-path OCT endoscope system, the process is complex, and imaging is failed if a certain optical path range is exceeded; and sharing with an existing endoscope system cannot be realized.