A cleaning device disposed downstream from a transfer position in a direction of rotation of the image carrier to remove toner from the image carrier. The cleaning device includes a normally-charged toner cleaning member to electrostatically remove normally-charged toner from the image carrier, one of a polarity controller to control the toner on the image carrier to have a normal charging polarity and a reversely-charged toner cleaning member to electrostatically remove reversely-charged toner from the image carrier, a pre-cleaning member to electrostatically remove normally-charged toner from the image carrier, a pre-collection member to electrostatically collect the toner from the pre-cleaning member, and a control unit to reduce a voltage applied to the pre-cleaning member immediately after an untransferred toner image is removed from the image carrier by the pre-cleaning member below a voltage applied to the pre-cleaning member during removal of the untransferred toner image.