An optical scanning device includes light sources, a deflector deflecting light beams emitted from the light sources, a first lens transmitting the light beams deflected by the defector, and second lenses guiding the light beams transmitted from the first lens to respective surfaces to be scanned. The second lenses are arranged so that a first incident position of a first light beam emitted by a first light source and entering one of the second lenses is closer to the respective surface to be scanned along an optical axis of the first lens than a second incident position of a second light beam emitted by a second light source and entering another of the second lenses, and an incident angle of the second light beam with respect to the optical axis along a deflection direction by the deflector is greater than the incident angle of the first light beam.