Mueller matrix polarimetric imaging has shown potential in tissue diagnosis but is challenging to implement endoscopically. In this work, a narrow band 3 × 3 Mueller matrix polarimetric endoscope was designed by rotating the endoscope to generate 0°, 45° and 90° linearly polarized illumination and positioning a rotating filter wheel in front of the camera containing three polarisers to permit polarization state analysis for backscattered light. The system was validated with a rotating linear polarizer and a diffuse reflection target. Initial measurements of 3 × 3 Mueller matrices on a rat are demonstrated, followed by matrix decomposition into the depolarization and retardance matrices for further analysis. Our work shows the feasibility of implementing polarimetric imaging in a rigid endoscope conveniently and economically in order to reveal diagnostic information.