The invention concerns a method for cleaning contaminated, polluted, soiled parts, with a dense pressurised fluid, in particular a supercritical fluid, such as supercritical carbon dioxide CO2. The invention also concerns a device and an installation for cleaning contaminated parts, with a dense pressurised fluid, in particular with a supercritical fluid. The cleaning device comprises: a closed chamber under pressure (1), a drum or basket (3) arranged inside the closed chamber and receiving the metal parts to be cleaned, said drum or basket being driven by a shaft (4) directly engaged with driving means (11) located outside the chamber (1); means (12, 13) for subjecting the parts to the action of a high speed jet of the dense fluid; means (15) for continuously separating in the closed chamber the insoluble solid and/or liquid particles in the fluid from the dense pressurised fluid.