Optical polarization is sensitive to morphological, structural and compositional changes of tissue and has attracted much interest as a tool in tissue sensing and characterisation. The fusion of polarisation imaging techniques and medical endoscopy resulting in polarisation resolved endoscopy is one of the most significant steps to translate the technique from an optical laboratory to clinic so as to benefit the whole spectrum of endoscopic investigations and intra-operative guidance in situ during minimally invasive surgery. The work in this thesis focuses on the proof-of-concept studies concerning the development of polarisation resolved endoscopy. In particular, polarised light scattering spectral imaging, 3×3 and 4×4 Mueller polarimetric imaging are successfully integrated to a rigid endoscope with accompanying validation experiments performed. The results have shown that polarisation resolved endoscopy based on light scattering spectroscopy and Mueller polarimetry is feasible to implement and has great potential to become a powerful tool for tissue imaging and characterisation.