A novel piezoelectric motor based on synchronous anchoring/loosening control of harmonic vibration was proposed. It was composed of a resonant vibrator and a synchronous clamp clutch. The output components generated a linear motion along the linear guide by way of combining the resonant actuation of ultrasonic motors and the control mechanism of inchworm motors. The motor’s operation and driving mechanism was analyzed in detail. A prototype motor was fabricated, test and analyzed. The experimental results show that the synchronous anchoring/loosening control piezoelectric motor has excellent characteristics.