A fixing device includes an endless fixing belt; a pressure roller to contact the fixing belt; a nip forming member to press the pressure roller from the fixing belt; a nip portion formed between the fixing belt and the pressure roller; a heater to heat the fixing belt to fuse and fix toner onto a recording sheet in the nip portion; an auxiliary driven roller; an auxiliary drive roller to drive the driven roller; an auxiliary nip portion, formed between an outer circumferential surface of the auxiliary driven roller and an outer circumferential surface of the auxiliary drive roller, to nip the recording sheet after toner fixation conveyed from the nip portion; and an outlet guide member, disposed downstream of the auxiliary nip portion, to guide the recording sheet after toner fixation conveyed from the auxiliary nip portion, with the toner-fixed recording sheet surface bent in a concave shape.