A confocal laser scanning endomicroscopy is developed, which employs a telecentric endomicroscopic optical system to achieve long-distance relay transmission of images, telecentric f-theta optical scanning and endomicroscopic imaging functions. Two-dimensional confocal scanning is realized through two scanning mirrors, and low-noise control signals are generated by the embedded system. Miniaturized design is adopted in the confocal laser scanning endomicroscopy in order to easily use for portable applications. Firstly, the outer diameter of the optical system is 8 mm, and working length of which is 250.3 mm, so in-vivo endomicroscopic imaging can be realized through standard laparoscopic surgery port. Secondly, two small mirrors with aperture of 3mm are employed to achieve in vitro confocal scanning, with the maximum frequency of 100 Hz. Finally, laser system and fluorescence detection are connected with the distal end of the confocal laser scanning endomicroscopy through an optical fiber and a cable, and the size and the weight of the distal end are minimized by this method. The experimental results show that the system′s filed of view reaches φ600 μm, and its optical resolution is 2.2 μm. This system can be used under handheld operation or other ways to realize minimally invasive in-vivo fluorescence endoscopic surgery since its miniature size and low weight.