A range imaging device includes: a light-receiving unit including a pixel circuit, and a pixel drive circuit that causes transfer transistors to distribute charge to charge storage units, the pixel circuit including a photoelectric conversion element that generates charge in response to incident light, N (N≥3) charge storage units that integrates charge in frame cycle, and the transistors that transfer charge to the storage units from the conversion element; a light source that emits light pulses; a range image processing unit that calculates a measurement distance to an object based on the integrated charge in the storage units; and a measurement control unit that calculates integration time with which charge is integrated in the storage units, according to the integrated charge, distance, and intensity of incident light. The control unit decrements the time by a first unit until the integrated charge becomes equal to or smaller than a first threshold.