A bicycle shoe cleat positioning device for use in determining the position of a bicycle shoe cleat is provided. The bicycle shoe cleat positioning device comprises a base portion, a holding portion connected to the base portion, a coupler configured to connect to the holding portion, a cleat connector, a connecting member, and a cleat positioning assembly. The cleat positioning assembly comprises a first positioner configured to determine a first position of the cleat connector about a first axis, a second positioner configured to determine a second position of the cleat connector along a second axis, and a third positioner configured to determine a third position of the cleat connector along a third axis.