The fixing device includes a fixing roller, a separation roller, an endless fixing belt, and a pressing roller. The fixing roller includes a first elastic layer as a surface layer and has a roller hardness A. The separation roller includes a second elastic layer as a surface layer and has a roller hardness B smaller than the roller hardness A of the fixing roller. The endless fixing belt is wound around the fixing roller and the separation roller. The pressing roller is pressed against the fixing roller and the separation roller via the fixing belt to form a nip portion between the fixing belt and the pressing roller through which the recording medium bearing the toner image passes. The pressing roller includes a third elastic layer as a surface layer and has a roller hardness C not smaller than the roller hardness A of the fixing roller.