Two-dimensional optical scanner includes: a first acousto-optical deflector (AOD) and a second AOD that deflects light according to a signal; a first driving unit that rotates the first AOD around axis perpendicular to a first plane including the light on and light from the first AOD; a first prism that is arranged adjacent to an emission end of the first AOD and compensates angular dispersion of the light; a second driving unit that rotates the second AOD around axis perpendicular to a second plane including the light on and light from the second AOD and perpendicular to the first plane; a second prism that is arranged adjacent to an emission end of the second AOD and compensates angular dispersion of the light; and a relay lens that allows the emission end of the first AOD and an incident end of the second AOD to be optically conjugate.