A lens driving device includes a movable system having a lens frame to which a lens is fixed, and a fixation system including a guide shaft inserted into a guide hole formed in the lens frame to allow the lens frame to advance and retract in an optical axis direction and a restricting member for restricting rotation of the lens frame about the guide shaft. A lead screw is rotatable with respect to the fixation system about its axis which extends substantially parallel to the guide shaft, and the lead screw is threadedly fitted to the movable system. A motor rotates the lead screw to allow the movable system to advance and retract along the lead screw. A biasing spring is arranged substantially parallel to the guide shaft and biases the lens frame in both the axial direction and a direction orthogonal to the axial direction.