Endo was born in Tokyo Metropolis on August 15, 1970. After graduating from Juntendo University, he joined the Japan Football League club Júbilo Iwata in 1993. The club won the second place in 1994 and was promoted to the J1 League. Although he played as a regular player until 1995, he lost the opportunity to play from 1996. After 1999, he played for Yokohama FC (1999), Verdy Kawasaki (1999) and Shimizu S-Pulse (2000). In 2000, he moved to Belgium and played for Mechelen and Louviéroise. He retired in 2002.