A mirror driver is disclosed which includes: a mirror having a reflective surface reflecting incident light thereon; a pair of mechanical beams diametrically opposed to each other with the mirror inbetween as viewed along a reference line parallel to the reflective surface; an actuator imparting bending motions to the pair of beams, respectively; and a pair of joints integrally coupling the pair of beams and the mirror to each other, with less rigidity to resist deformation than rigidity of the pair of beams and the mirror, for allowing conversion of the bending motions of the pair of beams into a rigid-body motion of the mirror without inducing an angular oscillation about the reference line.