Endo was born in Kagoshima on September 18, 1975. After graduating from Kagoshima Jitsugyo High School, he joined J1 League club Yokohama Marinos (later "Yokohama F. Marinos") in 1994. He debuted in 1995 and he played many matches as midfielder after the debut. In 1995, the club won the champions J1 League. From 1999, he became a regular player and the club won 2001 J.League Cup, 2003 and 2004 J1 League. However his opportunity to play decreased in 2005 and he moved to Vissel Kobe in July 2005. He retired end of 2007 season.