A miniature linear piezoelectric actuator which moves based on inertia-friction theory is described in this paper. The authors discuss its driving principle, dynamic model and experimental results. The piezo-electric actuator includes two piezoelectric elements. Through the sequentially deformations of the tow piezo elements, the moving mass slides a miniature displacement. Many strokes will be added to be a large displacement. This type of piezoactuator has advantages in its dimension and motion type, so it can be miniaturized to do micro-manipulation or micropositioning in microspace.