In this paper, a simple and compact piezoelectric stick-slip rotary motor is proposed. The stator is designed by a force-coupled mechanism, and a double-stator piezoelectric stick-slip rotary motor is designed on this stator to improve the compactness of its structure. An asynchronous drive method is modified according to a typical sawtooth wave to enable the motor to achieve “increasing stickiness and reducing slippage”. An electromechanical-frictional coupling dynamics model of the motor is established, and a prototype motor is built and experimented accordingly. The experimental results show that the motor output displacement curve shows good stepping characteristics. The maximum single-step rotation angle and speed of the motor are 125 μrad and 6.3 (°)/s respectively when the driving voltage amplitude is 150 V and the frequency is 900 Hz, and its maximum load capacity is 30 g.