A lighting device for a vehicle includes a lamp unit serving to irradiate a light forward, and an actuator having a single output shaft for tilting the lamp unit vertically and transversely. The lamp unit is disposed in a lamp housing formed by a lamp body and a transparent cover for covering a front surface of the lamp body. The lamp unit includes a body coupling portion to be coupled to the lamp body and an actuator coupling portion to be coupled to the actuator. The lamp body includes a lamp unit coupling portion coupled to the body coupling portion and serving to support the lamp unit tiltably in vertical and transverse directions. The actuator is supported on the lamp body and includes an output shaft for tilting the lamp unit vertically and transversely in engagement with the actuator coupling portion of the lamp unit.