A needle insertion device (X) where a first moving body (32) holding a needle element (11) is moved in an insertion direction (N1) from a waiting position toward an insertion position and a needle element (11) is inserted in an object portion. The needle insertion device (X) has a second moving body (31) connected to the first moving body (32) and restricting the movement of the first moving body (32) in conjunction with its movement. The needle insertion device (X) further has impact-absorbing means (23A) for absorbing an impact produced when the movement of the first and the second moving body (31, 32) is stopped in an insertion operation. The impact-absorbing means (23A) has an elastic body (23Ab) for absorbing an impact by elastic deformation.
