A fixing device includes an endless fuser belt, a contact member, a pressure member, a heater, a heater support, and a belt tensioner. The endless fuser belt is looped into a generally cylindrical configuration extending in an axial direction thereof. The contact member extends in the axial direction inside the loop of the fuser belt. The pressure member extends in the axial direction with the belt interposed between the contact member and the pressure member. The pressure member is pressed against the contact member through the fuser belt to form a fixing nip. The heater is disposed inside the loop of the fuser belt to heat the fuser belt. The heater support is disposed inside the loop of the fuser belt to hold the heater in position. The belt tensioner is disposed inside the loop of the fuser belt to tighten the fuser belt.