A two-dimensional (2D) beam steering device may include a variable refractive index panel configured to generate a prism effect, a waveguide in contact with a surface of the variable refractive index panel, and an electro-optic prism disposed on a surface of the waveguide. The variable refractive index panel may include a variable refractive index layer, a common electrode layer, and an electrode pattern layer. The common electrode layer and the electrode pattern layer may face each other with the variable refractive index layer therebetween.