A fixing device includes a rotary fixing member, a counter member to contact the rotary fixing member, a first heater to heat the rotary fixing member, a driving unit to rotate the rotary fixing member, a temperature detector to detect a temperature of the rotary fixing member, and a contact-and-separation unit to switch between contact and separation states of the rotary fixing member relative to the counter member. In a temperature-raising operation, the driving unit causes the rotary fixing member to rotate when the temperature detector detects that the temperature of the rotary fixing member has reached a first setting temperature. The contact-and-separation unit causes the rotary fixing member in rotation and the counter member to contact each other when the temperature detector detects that the temperature of the rotary fixing member has reached a second setting temperature that is higher than the first setting temperature.