An endoscope includes an objective optical system provided in a distal end portion of an insertion portion, and a light splitting element configured to split a light beam from an objective optical system into a plurality of light beams including a first light beam and a second light beam. The first light beam is reflected by a reflection mirror, and is formed into an image on a first image pickup device. The second light beam is formed into an image on a second image pickup device. The first image pickup device and the second image pickup device are disposed adjacent to the light splitting element at positions different from each other with respect to an optical axis of the light beam from the objective optical system.