A lens driving device comprises a lens holder for holding a lens, a shaft for supporting the lens holder so as to make the lens holder movable in an optical axis direction of the lens and swingable about an axis of the shaft, an actuator for applying a driving force to the lens holder so as to move the lens holder in the optical axis direction; and an urging member for applying an urging force to the lens holder so as to rotate the lens holder toward the actuator. In the lens holder, a position where the urging force is applied by the urging member and a position where the driving force is applied by the actuator oppose each other, so that the urging force from the urging member is directed to the actuator.