A fixing device includes a foam fixer generator unit generating a foam fixer containing a softener softening toner by dissolving or swelling part of resin of the toner, an application roller carrying and transferring the foam fixer onto a recording sheet, a pressure roller applying pressure to a toner image on the recording sheet via the foam fixer on the application roller to fix the toner image on the recording sheet, a cleaning device removing residual components remaining on the application roller, a recording sheet detector unit detecting presence or absence of the recording sheet, a remover unit being in contact with and separated from the application roller to remove the foam fixer on the application roller, and a control unit controlling the contact-separation operation of the remover unit based on a detected result of a front end and/or a rear end of the recording sheet.