In order to make the assembly and adjustment process easy to implement, the piezoelectric inchworm linear motor is designed based on the idea of structure integration. Firstly, the clamping mechanism is designed with the trigonometric amplification structure, and the driving mechanism is designed based on the flexible sheet and the flexible folding beam. The clamping mechanism and driving mechanism of the designed motor are integrated into, which can reduce the precision requirements for the machining and assembling of the machine body. Secondly, the displacement magnification, stress and mode of the motor are analyzed by the finite element method. Finally, the static and dynamic characteristics of the motor are tested. The results show that the motor has good linearity in displacement, the maximum singlestep displacement is 8.24 μm, the motor resolution is 10 nm, and the maximum speed is 0.17 mm/s.