To provide an optical disk device in which the tilt of an optical pickup with respect to a signal plane is automatically compensated with a comparatively simple configuration, and to provide a tilt compensating method therefor.

An optical pickup 14 is shifted to a first position R1 of a radius direction of a disk chucked by a turn table 72, and detects a focus position from drive voltage V1 applied to a focus actuator. Next, tilt θ (θ=tan-1[λ(V2-V1)/(R2-R1)]) of the disk is calculated from the first and the second positions R1, R2 and drive voltages V1, V2, an elevation motor is driven in response to the result, and tilt of the optical pickup 14 for the disk is adjusted.