Endo was born in Yokohama on February 9, 1993. He joined J1 League club Shonan Bellmare in 2010. Shonan was relegated to J2 League end of the 2010 season. He played many matches as center back from 2011. Shonan played in J1 in 2013 and 2015. In 2016, he moved to Urawa Reds. He played many matches as center back. Urawa won the 2nd place in 2016 J1 League. In 2017, Urawa won the champions in the 2017 AFC Champions League. In July 2018, he moved to Belgian First Division A club Sint-Truidense. In August 2019, he moved to German 2. Bundesliga club Stuttgart. Stuttgart was promoted to Bundesliga in 2020.