A fixing device includes a first driving system connected to a fixing roller and a separation roller and a second driving system connected to a pressing roller pressed against the fixing roller and the separation roller via a fixing belt. In the first driving system, a first transmission transmits a first driving force generated by a first motor to the fixing roller and the separation roller, and includes a first one-way clutch via which the first driving force is transmitted to the fixing roller. In the second driving system, a second transmission transmits a second driving force generated by a second motor to the pressing roller. When a circumferential velocity of the pressing roller is greater than a circumferential velocity of the fixing roller, the first one-way clutch idles to rotate the fixing roller in accordance with rotation of the pressing roller.