A light-field endoscope can simultaneously capture the three-dimensional information of in situ lesions and enables single-shot quantitative depth perception with minimal invasion for improving surgical and diagnostic accuracy. However, due to oversized rigid probes, clinical applications of current techniques are limited by their cumbersome devices. To minimize the size and enhance the flexibility, here we report a highly flexible and compact volumetric endoscope by employing precision-machined multiple micro-imaging devices (MIRDs). To further protect the flexibility, the designed MIRD with a diameter and height of 5 mm is packaged in pliable polyamide, using soft data cables for data transmission. It achieves the optimal lateral resolvability of 31 µm and axial resolvability of 255 µm, with an imaging volume over 2.3 × 2.3 × 10 mm3. Our technique allows easy access to the organism interior through the natural entrance, which has been verified through observational experiments of the stomach and rectum of a rabbit. Together, we expect this device can assist in the removal of tumors and polyps as well as the identification of certain early cancers of the digestive tract.