An integrated dualdrive symmetrical piezoelectric cantilever actuator is designed. The working principle of the piezoelectric actuator and the output characteristics of the piezoelectric actuator under quasistatic conditions and resonant conditions are theoretically analyzed,and the geometry of the piezoelectric actuator is determined. The implementation of the multilayer composite structureof piezoelectric actuator and the realizing way of the integrated dualdrive are introduced. The piezoelectric actuator prototype has been fabricated,the impedance characteristics and output characteristic curve of the piezoelectric actuator have been obtained through the combination of the finite element method simulation and experiments. The feasibility of the design is verified by applying piezoelectric actuators to the wheeled robots.