In this paper, a hollow ultrasonic motor with integrated design of cylindrical rotor and rudder wing (outer ring output) is proposed to meet the needs of a rotating ultrasonic motor control system with a hollow structure, a fusion of rotor and load structure and a certain holding torque of some aircraft rudder control systems. The design and experimental study of the structure and prepressure applied scheme of the motor are carried out. The finite element model of the stator of the motor is established, and the influences of different structure sizes on the stator mode are analyzed. The sensitivity analysis of the structure size is carried out, the structure of the stator is optimized, and the resonance frequency and vibration amplitude are calculated. Finally, a prototype has been fabricated. The experimental results show that when the excitation voltage is 450 V and the excitation frequency is 40.2 kHz, the noload speed of the prototype can reach 208 r/min and the blocking torque can reach 0.35 N·m.