A driving device is provided and includes: an actuator that includes a driving shaft attached to a piezoelectric element; and a driving signal control unit. The piezoelectric element is expanded and contracted in response to a driving signal. The driving shaft is reciprocated by the expansion and contraction operation of the piezoelectric element to move a driven member that is frictionally engaged with the driving shaft. The driving signal control unit outputs to the piezoelectric element a second driving signal that increases a driving force applied to the driven member and reduces the movement speed of the driven member during a period from the start of the expansion and contraction operation of the piezoelectric element to a predetermined time, as compared to a first driving signal output when the driven member is moved after the period has elapsed.