An image forming apparatus including a cleaning device for removing toner, paper dust and other impurities left on an image carrier after image transfer with a cleaning member is disclosed. The cleaning member contacts the surface of the image carrier with variable pressure and remains, about the time when the image carrier stops moving after image formation, in contact with the surface with pressure lower than pressure capable of scrapping off the impurities. Before movement for image formation, the image carrier is driven in a reverse direction opposite to a forward direction assigned to image formation, stopped, and again moved in the forward direction and then in the reverse direction at least one time.