A belt cleaning device is a device for an endless belt which has a bearing surface for bearing a toner image, and includes a cleaning unit and a toner rubbing portion. The cleaning unit is arranged to face the bearing surface and removes residual toner remaining on the bearing surface. The toner rubbing portion is arranged to face the bearing surface at a side upstream of the cleaning unit in a rotating direction of the belt and charges the residual toner by rubbing the residual toner. The toner rubbing portion includes brush bristles whose tips are faced toward the bearing surface and which are charged when rubbing the residual toner. The brush bristles include first bristle-like bodies to be positively charged and second bristle-like bodies to be negatively charged. The first and second bristle-like bodies are alternately arranged in a predetermined first direction.