A floating self-propelled cleaning device (10) for water surfaces, in particular swimming pools, comprises a central floating body (11) and two side floating elements (12) to it connected at opposite sides by two arms (14) to which two net-shaped collecting containers (13) are fastened. The net-shaped containers (13) have openings (17) that allow the inlet of impurities, but prevent the outlet thereof during possible stops or under the action of waves that can occur during the travel on the water surface. The floating device (10) is driven by propelling means (20) and (30) that substantially cause the side floating elements (12) to rotate about an instantaneous centre of rotation located approximately at the central body (11). The rotation of the side floating elements (12) is associated to a shifting movement caused by at least a distribution element (15) movable with respect to the floating body (10). The sum of these two effects provides a resulting trajectory of the device (10) that causes the net-shaped containers (13) to sweep the whole water surface.