A magnetic wave gear device (1A, 1B, 1F) includes: a first member (10), a second member (20), and a third member (30) which are rotatable relative to one another around a rotation axis (R). The second member (20) is disposed between the first member (10) and the third member (30), and includes magnetic material pieces (21). The first member (10) includes first permanent magnets (12A, 12B). The third member (30) includes: a plurality of pole teeth (32), a pole tooth (32) being wound with a coil (33); and second permanent magnets (34B), each second permanent magnet (34B) being disposed between pole teeth (32) next to each other, and the magnetic poles of sides of the second permnanent magnets (34B) facing the second member (20) being the same pole.