A cleaning device includes a first cleaning member that includes a surface layer formed by a cloth made of conductive fibers, contacts an image carrier holding an image and cleans the image carrier with a predetermined voltage applied to the first cleaning member; a second cleaning member that contacts the image carrier and cleans the image carrier with a predetermined voltage applied to the second cleaning member; a first collection member that contacts the first and second cleaning members and collects adhering substances from the first and second cleaning member with a predetermined voltage applied to the first collection member; and a second collection member that contacts the second cleaning member and collects adhering substances form the second cleaning member with a predetermined voltage applied to the second collection member.