A cycling device, particularly for sport cycling, for controlling the relative position of the leg and the foot, comprises a base, which can be associated with an item of footwear or a pedal of a cycling vehicle, a rod-like element, which has a first end articulated so that it can rotate about a first axis, which is substantially perpendicular to the plane on which the circular motion of the pedal occurs, and a second end, which is provided with supporting means for a front portion of a leg of a cyclist, and means for adjusting and locking the angular position of said rod-like element with respect to the base, the rod-like element being adapted to keep the angle formed between the leg and the foot of the cyclist substantially fixed at least during the pushing step of a pedaling stroke.