The invention is applicable to the technical field of endoscopes, and provides an endoscope binocular optical system with double objective lens and a single image sensor. The endoscope binocular optical system comprises a first optical lens set and a second optical lens set which are arranged in parallel, as well as the image sensor, wherein each of the first optical lens set and the second optical lens set comprises a first lens, a second lens, a diaphragm and a third lens which are arranged in sequence in the light incidence direction; a prism is arranged in the emergent direction of each third lens; the incidence surface and emergent surface of each prism are parallel; the image sensor is arranged in the emergent directions of the two prisms; the emergent surfaces of the two prisms are coplanar, and correspond to different areas of target surfaces of the image sensor. The invention provides an image sensor target surface partition technology, only the single image sensor is needed to be adopted, so that the working diameter of an endoscope can be effectively reduced, wider space is provided for the selection of the image sensor, the diameters of the two objective lenses are not needed to be greatly reduced, and further, the cost is greatly reduced; the system is a superfine endoscope optical system with relatively high cost performance, and can be applied to the fields of industrial inspection, medical treatment and the like.