This paper proposes a new concept of piezoelectric actuator. It is different from ordinary piezoelectric actuators which are actuated by friction, and wear becomes a major problem in long-term use. The main purpose of this research is to drive the motor without friction. Hence, the actuator driven by resonance force is proposed here. The foundation of the actuator is based on piezoelectric material which possess the inverse piezoelectric effect itself. The axial deformation of piezoelectric material is worked as excitation here, which makes the stator subjected to mutative equivalent force along the time. At the same time, the input frequency of sinusoidal voltage is controlled and applied to the stators which makes the stators resonated and in contact with motor for pushing the motor forward. In addition to proposing the preliminary design concept of linear piezoelectric actuator, the dynamic model of the piezoelectric actuator system is firstly studied by Hamilton’s Principle. Then, the finite element method is used to calculate the modal analysis of stator. Finally, the prototype is fabricated and experiment platform is established. The vibration response of stators is measured by laser Doppler vibration measuring system, which is able to verify reasonableness of the constructed finite element model and feasibility of linear piezoelectric actuator.