Imaging device with controlled timing of images to be synthesized based on shake residual

An imaging device includes an optical system including a plurality of lenses, an imaging element that images a subject image formed by the optical system, a shake detector that detects a shake of the imaging device, a lens driving controller that moves one of the plurality of lenses on a plane perpendicular to an optical axis based on an output signal from the shake detector to correct the shake, an imaging element driver that moves the imaging element on the plane perpendicular to the optical axis, an imaging controller that causes the imaging element to perform an imaging operation to obtain image data, and an image processor that performs a plural number of the imaging operations while moving the imaging element by a predetermined amount and synthesizes a plurality of obtained images to generate a synthesis image.