A cleaning device includes a cleaner, a casing, and an exit seal. The cleaner is configured to remove toner from a cleaning target. The casing accommodates the cleaner. The exit seal is attached to the casing and has a free end contacting the cleaning target at a position downward from the cleaner in a direction of movement of the cleaning target and an attached end attached to the casing. A space is disposed between a surface of the cleaning target and an opposite face of the exit seal opposite the cleaning target. The space includes an opening at a lateral end of the exit seal. The exit seal contacts the cleaning target from a trailing direction of the exit seal and seals the opening at at least an attached end side of the exit seal.