Disclosed are an automatic document feeder capable of moving a pickup device between a standby position and a pickup position and carrying out a document pickup operation by using a single driving source, an image reading device having the same and an image forming apparatus having the same. The automatic document feeder includes a pickup device, a lifting device and a pickup driving device. The pickup device includes a pickup roller to pick up a document sheet. The lifting device moves the pickup device between a standby position and a pickup position. The pickup driving device includes a pickup motor to rotate in a first direction and a second direction. The pickup motor drives the pickup roller by rotating in the first direction, and drives the lifting device by rotating in the second direction.