A laser driving device includes: a pulse signal generating unit that, after a voltage has risen from a predetermined reference voltage to a predetermined output voltage and a time of a sum of an oscillation period of relaxation oscillation and a light emission start time in a predetermined laser diode has nearly elapsed, generates a pulse signal having a waveform that falls divisionally in two or more stages from the output voltage to the reference voltage; and an output unit that generates a laser drive signal by performing signal processing on the pulse signal and outputs the signal to the laser diode.