A novel quasi-static linear piezoelectric actuator based on the piezoelectric bimorph was presented. The proposed actuator can output desired mechanical output force by means of multiple bimorphs array and has the advantages of simple structure, stable performance and strong controllability. The actuator structure was designed and analyzed by using the finite element software, and the physical prototype was manufactured. The experimental results show that the actuator can output the linear motion directly when the driving frequency is between 500 Hz and 2 100 Hz. The maximum no-load speed of the actuator is 95 mm/s, and the maximum output force is 0.7 N with the driving voltage peak-peak value of 200 V at the driving frequency of 1 100 Hz, and preload of 1.5 N, respectively.