A depilating device has a housing with a top opening and a plucking head with a longitudinal axis. The plucking head carries a series of pinching elements arranged in side-by-side relations to form therebetween gaps. At least one of the adjacent pinching elements is movable relative to the other so as to entrap and pinch the hairs between the adjacent pinching elements for plucking the hairs from the skin. A skin guide is disposed around the plucking head to be exposed at least partially beyond the pinching elements for sliding contact with the skin. The plucking head and the skin guide are floatingly supported to the housing by means of a common structure such that they are depressed together into the housing within a predetermined extent.