We report tunable liquid-filled lens with antireflective structures (ARS) on a thin flexible membrane of polydimethylsiloxane (PDMS) for endoscope camera. ARS on the membrane significantly enhance light transmission by suppressing-Hemel reflection on air-PDMS interfaces on both planar and curved surfaces. Optimal dimension of ARS was numerically designed by a finite difference time domain (FDTD) method. ARS were fabricated by using template-confined repeated dewetting on a wafer scale. Tunable liquid-filled lens with highly enhanced transmittance was completely packaged with silicon chamber diameter of 4.0 mm for endoscope camera. Optical images with different field-of-view (FOV) were successfully achieved by applying pressures with high light transmission on both planar and curved membrane.