In this letter, we proposed a compact multimode fiber (MMF)-based laser scanning endoscope (LSE) using wavefront shaping with a liquid crystal spatial light modulator. Experimentally, we demonstrated the lensless imaging capability of the LSE using a negative USAF-1951 test target placed near the distal MMF facet, obtaining similar to 7000-pixel images with micro-level spatial resolution and high contrast across a 105 mu m field of view. This study proves the feasibility of a single MMF imaging without mechanical scanning, and also paves the way for ultra-thin micro-endoscopic imaging.