A cleaning device includes a housing, a cleaning member, a contact member, a torque limiter, and an urging member. The housing has an opening that opposes an image carrier and a waste toner receiver. The cleaning member includes a rotation member that is rotated in a forward rotation direction. The cleaning member is positioned near the opening in the housing and removes residual toner from the surface of the image carrier. The contact member is positioned so as to be in contact with an outer peripheral surface of the rotation member. The torque limiter is located on a rotation shaft of the rotation member and is capable of rotating independently of the rotation shaft when a torque that is greater than or equal to a predetermined torque is applied to the torque limiter. The urging member applies an urging force to the torque limiter in a reverse rotation direction.