This study investigated the production of D-lactic acid from unutilized sugarcane bagasse using steam explosion pretreatment. The optimal steam pressure for a steaming time of 5 min was determined. By enzymatic saccharification using Meicellase, the highest recovery of glucose from raw bagasse, 73.7%, was obtained at a steam pressure of 20 atm. For residue washed with water after steam explosion, the glucose recovery increased up to 94.9% at a steam pressure of 20 atm. These results showed that washing with water is effective in removing enzymatic reaction inhibitors. After steam pretreatment (steam pressure of 20 atm), D-lactic acid was produced by Lactobacillus delbrueckii NBRC 3534 from the enzymatic hydrolyzate of steam-exploded bagasse and washed residue. The conversion rate of D-lactic acid obtained from the initial glucose concentration was 66.6% for the hydrolyzate derived from steam-exploded bagasse and 90.0% for that derived from the washed residue after steam explosion. These results also demonstrated that the hydrolyzate of steam-exploded bagasse (without washing with water) contains fermentation inhibitors and washing with water can remove them.