In a dental cleaning device (1) including a grip member (2) and at least one elongate extension member (5) which projects from the grip member (2) in the direction of a longitudinal axis (4), the free end portion (13) of the extension member carrying a brush holder (14), from which bristles (10) project in the direction of the pivotal axis (15) and which is drivable so as to pivot to and fro along a circularly arcuate path about a pivotal axis (15) oriented transversely to the longitudinal axis (4), and an interdental brush holder (16), from which interdental bristles (12) extend also in the direction of dte pivotal axis (15) and which is coupled to a drive member (69) which is drivable so as to pivot to and fro about a further pivotal axis (17), the further pivotal axis (17) also extends transversely to the longitudal axis (4) of the extension member (5), and the free ends of the bristles (10) and the interdental bristles (12) perform a movement whose main component is oriented parallel to a plane which extends perpendicularly to the pivotal axis (15) of the brush holder (14), the movement of the drive member along the circular arc-shaped path causing the interdental brush holder and the free ends of the interdental bristles to perform a reciprocatory movement substantially parallel to a longitudinal direction of interdental spaces between teeth in a user's mouth.