A transfer device includes a belt image bearer; a driving roller that rotates the belt image bearer; a transfer member; first and second driving motors that respectively rotate the driving roller and the transfer member; first and second speed detecting units that respectively detect rotational speeds of the belt image bearer and the transfer member; and a control unit that implements control such that the belt image bearer and the transfer member are rotated at rotational speeds corresponding to a relative speed at which a variation amount is less than a predetermined variation amount, the variation amount being the variation of values of driving torques of the first and second driving motors in a state where the belt image bearer and the transfer member are in contact, with respect to these values in a state where the belt image bearer and the transfer member are separated.