A cleaning device includes a blade member, a holder, a vibration detection device, a heating device, and a control device. The blade member comes into contact with an image carrying member, and cleans off toner remaining on the image carrying member. The holder holds the blade member. The vibration detection device detects the vibration level of either one of the blade member and the holder. The heating device heats either one of the blade member and the holder. The control device controls the heating device to heat either one of the blade member and the holder when the vibration level detected by the vibration detection device exceeds a predetermined threshold value.