A linear actuator for endoscope includes: a movable frame made of a magnetic material; a fixed frame in which the movable frame is provided so as to be movable forward and backward, the fixed frame being made of a non-magnetic material; two coils formed by being wound on an outer surface of the fixed frame, the two coils being disposed side by side in a longitudinal axis direction; a permanent magnet disposed in a manner stacked and superimposed on the two coils; and two yokes respectively disposed at a front and a back of the permanent magnet and the two coils.