A panoramic imaging device comprises: a lens array having a center lens for receiving light entering in a front range of at most 60.degree. in a capture angle and left and right side lenses formed on the same plane as that with the center lens formed thereon and having optical axes parallel to that of the center lens for receiving lights entering in left and right ranges each of at most 60.degree. in the capture angle; and prisms or mirrors placed on light entrance side of the lens array for guiding and reflecting lights entering in the left and right ranges, such that each light entering each side lens is directed along the optical axis of each side lens. Images formed by the center lens and the left and right side lenses are combined into a panoramic image with a picture angle of at least 120.degree..