An imaging device according to the present invention includes: first and second image sensors that respectively capture a first optical image and a second optical image having parallax with each other; a first imaging optical system that forms the first optical image on a light receiving surface of the first image sensor; and a second imaging optical system that forms the second optical image on a light receiving surface of the second image sensor. Each of focal positions of the first imaging optical system and the second imaging optical system is deviated along an optical axis direction and is positioned within mutual depth of field.