A cleaning device includes first and second cleaning members and a moving member. The first cleaning member contacts a surface of a rotating member, which is in contact with an image carrier, to clean the rotating member by removing substances attached thereto. The moving member supports the first cleaning member in a movable manner. The second cleaning member is disposed downstream of the first cleaning member in a rotation direction in which the rotating member rotates and contacts the surface of the rotating member to clean the rotating member by removing the substances. The second cleaning member removes the substances that remain on the surface of the rotating member after the first cleaning member has been separated from the rotating member so that the substances are removed before a part of the surface of the rotating member on which the substances remain comes into contact with the image carrier.