A belt driving apparatus includes: an endless belt member; a belt driving portion for driving the belt member to move the belt member in an endless path at a variable traveling speed; a steering roller, provided tiltably while stretching the belt member, for steering the belt member during traveling; a steering driving portion for tilting the steering roller at a variable tilting speed; and a controller for setting the tilting speed, when the steering roller is tilted through a certain angle, so as to be higher when the traveling speed of the belt member is a first traveling speed than when the traveling speed of the belt member is a second traveling speed lower than the first traveling speed.