A novel technique to measure the full 4 × 4 Mueller matrix of a sample through an optical fiber is proposed, opening the way for endoscopic applications of Mueller polarimetry for biomedical diagnosis. The technique is based on two subsequent Mueller matrices measurements: one for characterizing the fiber only, and another for the assembly of fiber and sample. From this differential measurement, we proved theoretically that the polarimetric properties of the sample can be deduced. The proof of principle was experimentally validated by measuring various polarimetric parameters of known optical components. Images of manufactured and biological samples acquired by using this approach are also presented.