The invention relates to the technical field of vehicle braking, in particular to a braking device and a road cleaning vehicle. The braking device comprises a first manipulating linkage mechanism with a foot plate, a second manipulating linkage mechanism with a handle and a braking mechanism with a braking body. The first manipulating linkage mechanism is in driving connection with the braking mechanism, and the second manipulating linkage mechanism is in driving connection with the first manipulating linkage mechanism. When the foot plate is downwards trampled, and the handle is not pulled, the first manipulating linkage mechanism drives the braking mechanism to enable the braking body to be in a braking state so as to achieve the travelling braking function; and when the handle is pulled up after the foot plate is downwards trampled, the second manipulating linkage mechanism enables the braking body to be kept in the braking state by locking the first manipulating linkage mechanism so as to achieve the parking braking function. According to the braking device and the road cleaning vehicle, two braking mechanisms which are mutually independent do not need to be utilized to achieve the travelling braking function and the parking braking function correspondingly, the structure is simpler, and maintenance is more convenient.