The utility model provides a crawling bracket for a lens of an endoscope. The crawling bracket comprises line clamping sleeves (1), retaining screws (2), a universal joint (3), hinges (5), rolling wheels (7) and bracket rods (4). According to the utility model, an endoscope line penetrates through the two line clamping sleeves (1) and the universal joint (3); the retaining screws (2) are screwed; expanding size of the bracket rods (4) is adjusted according to the inner diameter of an inspected pipeline; fastening screws (6) on the hinges (5) between the two bracket rods (4) and the lens are fixed; then the endoscope is assisted to crawl in the center in the pipeline or a header; full range inspection of 360 degrees can be realized; the workload of an inspector is reduced; blind zones of routine inspection is eliminated; the inspection work efficiency is improved.