A head cleaning device includes: a cleaning member that comes into contact with a nozzle surface of an inkjet head from which ink is ejected, and performs a cleaning operation of cleaning the nozzle surface; and a hardware processor that controls the cleaning operation, wherein the hardware processor brings the nozzle surface of the inkjet head heated and the cleaning member into contact with each other, the hardware processor maintains the contact until a temperature of the nozzle surface that has decreased to a temperature below a threshold due to the cleaning member being brought into contact therewith reaches a temperature equal to or higher than the threshold, and the hardware processor controls the cleaning operation after the temperature of the nozzle surface has reached a temperature equal to or higher than the threshold.