A recording medium heating device that can heat and dry a continuous recording medium, includes multiple heating rollers, including respective heaters, disposed on a conveying path of the recording medium; and a controller to control the heaters of the heating rollers. In a starting period during which the recording medium heating device is started, the controller sets temperatures of the heaters to starting temperatures where a temperature of a heating roller positioned closest to an exit side of the conveying path is lower than a temperature of a heating roller positioned away from the exit side of the conveying path.