There is provided an exposure device including: a light-emitting element array in which plural light-emitting elements are arrayed in a predetermined direction; and a hologram element array in which plural hologram elements are multiplex-recorded, in correspondence with the plural light-emitting elements, at a recording layer that is disposed above the light-emitting element array such that collected-light points, that are formed on a surface to be exposed by converging of diffracted lights that exit due to illumination of lights from the plural light-emitting elements, are aligned in the predetermined direction, and such that intersection points between optical axes of reference lights and optical axes of signal lights that record the plural hologram elements respectively are not aligned in the predetermined direction.