A cleaning device includes a controller configured to control cleaning of a conveyance roller by a web. The controller includes a separation and contact control unit, a conveyance roller rotation control unit, and a take-up control unit. The separation and contact control unit is configured to control a separation and contact mechanism so as to allow the web to be pressed to the conveyance roller when the conveyance roller is in a non-conveyable state. The conveyance roller rotation control unit rotates the conveyance roller in a state where the web is pressed to the conveyance roller. The take-up control unit is configured to allow the take-up roller to perform a take-up operation of taking up the web by rotatably driving the take-up roller plural times at a predetermined time interval within a cleaning time set in advance in a state where the conveyance roller is being rotated.