The present invention relates to a cleaning device (4) for cleaning and pretreating teats of an animal for milking, milking machine (2) provided therewith and method therefor. The cleaning device according to the invention comprises: • a frame (52) provided with an arm (6) • a cleaning head arranged on the arm and provided with a rotatable holder (12) on which one or more rotatable cleaning elements (14) are provided and • moving means (48, 50, 56) connected to the frame for displacing the cleaning head relative to the teats such that the teats are cleanable using the cleaning elements.
