A fixing device includes: a first rotating member; a second rotating member that extends along the first rotating member, sandwiches a recording medium with a toner image formed thereon between the first and second rotating members, rotates together with the first rotating member, and heats the recording medium to fix the toner image on the recording medium; a heating device whose circumferential surface circularly moves while contacting an external circumferential surface of the second rotating member, and the heating device heats the second rotating member; a temperature detecting device disposed to face the external circumferential surface of the second rotating member without contacting the external circumferential surface to detect a temperature thereof; and a cleaning device cleaning the circumferential surface of the heating device and disposed between the heating device and the temperature detecting device along the surface of the second rotating member.