In this paper we present a miniaturized pre-calibration based forward-viewing Lissajous scanning fiber probe for endoscopic optical coherence tomography (OCT). The probe is based on an asymmetric fiber cantilever driven by the piezoelectric bender to realize the two-dimensional (2D) Lissajous scanning, which can realize a relatively large scanning range under a low driving voltage. A capillary metal tube is mounted at the end of the main fiber to reduce the resonant frequency of the fiber cantilever. The relationship between the filling rate and the side-lobe number of the Lissajous scanning pattern is studied, and a method of selecting the orthogonal resonant frequency of the Lissajous scanning is proposed. Through the numerical simulation by COMSOL software, the structural parameters of the asymmetric fiber cantilever are determined. The orthogonal resonant frequencies of the asymmetric fiber cantilever are 169 Hz and 122 Hz. The lengths of the main imaging fiber, the auxiliary fiber and the metal capillary tube are 15.94 mm, 4.49 mm and 2 mm, respectively. The probe is fully packaged in a metal tube for endoscopic imaging. The focal spot and the working distance are 25 µm and 5 mm, respectively. The field of view is larger than 1.5 mm × 1.5 mm. The total rigid length and the outer diameter of the probe are 35 mm and 3.5 mm, respectively. The stability and repeatability of the Lissajous scanning trajectory, and the imaging stability with the rotation of the probe are investigated and verified. The probe is incorporated into a 50 kHz swept source OCT system. The axial resolution of the endoscopic OCT is 10.3 μm, and the imaging frame rate is 1 FPS (frames per second). The maximum signal-to-noise ratio of the imaging system is 110 dB. The imaging performance of the probe is validated by the 2D en-face and three-dimensional volumetric OCT imaging of the high scattering sample and the biological tissue. The probe can be used for the endoscopic imaging of the human tooth. From the result we can distinguish the dental enamel, dental essence and the dental calculus. The developed forward-viewing Lissajous scanning fiber probe is expected to be used in dental applications such as early calculus detection.