A lens driving device has first and second driving units for moving first and second lens holders supporting first and second sets of lens elements in an optical axis direction, respectively. The first and second driving units each have a motor, a gear fitted around an output shaft of the motor, a lead screw rotated by the gear, and a nut fitted around the lead screw. The output shafts of the first and second motors overlap each other in their axial direction. The first and second driving units move the first and second lens holders in the optical axis direction via the respective nuts moving in the optical axis direction. An image pickup plane side end face of the motor of the first driving unit is positioned more to the image pickup plane side than a position most to the subject side of the second lens holder is.