We propose an effective endoscopic imaging method utilizing compressive sensing (CS) theory on the basis of complementary light modulation of a spatial light modulator. Both the simulated and the experimental results show that complementary compressive sensing (CCS) always needs less time to obtain better work than conventional CS with normal modulation at the same sampling rate. First, the speed of CCS is at least twice as fast as CS. Second, in comparison with CS, CCS can improve the signal-to-noise ratio of the reconstructed image by 49.7%, which indicates that this method is of great significance to endoscopic applications in terms of image fidelity and denoising performance.