A sensor cleaning device includes: a cleaning member including an inclined portion that wipes and cleans an entire surface of a sensor, which includes a long side portion extending in a longitudinal direction and a short side portion extending in a lateral direction intersecting with the longitudinal direction, while moving relative to the surface of the sensor in the longitudinal direction of the surface of the sensor and is disposed obliquely to a wiping direction so that an upstream end portion of the inclined portion in the wiping direction is positioned outside the surface of the sensor in the lateral direction; and a moving mechanism that moves the cleaning member in the wiping direction and in a direction opposite to the wiping direction.