A distance detecting device and an image processing apparatus including the same are disclosed. The distance detecting device includes a first light source to output a first output beam and a second light source to output a second output beam having a wavelength different from that of the first output beam, a scanner to progressively perform first directional scanning and second directional scanning to output the first output beam and the second output beam to an outside, a first detecting unit to convert a first received beam corresponding to the first output beam into a first electric signal, a second detecting unit to convert a second received beam corresponding to the second output beam into a second electric signal, and a controller to detect a distance from an external target based on the first electric signal and the second electric signal.