In order to meet the multi-direction motion needs of micromotors, a piezoelectric actuator with bidirectional motion was studied, and its performance was analyzed. The actuator could drive both linear and cylindrical actuators, which makes this piezoelectric actuator suitable for multiple working environments. This paper first describes the basic structure and principle of a piezoelectric actuator. An actuator model was established, and the deformation mode of the piezoelectric actuator was analyzed using the finite element method. Experimental results showed that the optimal operating frequency of the piezoelectric actuator was 2.27 kHz, and the optimal driving voltage amplitude was 150 V. Under an excitation signal, the maximum speed of the linear piezoelectric driver reached 249 mm/s, and the maximum load capacity was 20 N. The piezoelectric actuator could realize bidirectional motion and stable output.