Based on the requirements of that the finger can move in parallel, the displacement and gripping force of the finger can be detected, the structural of piezoelectric micro gripper was designed by flexible magnifying mechanism. The static and dynamic characteristics of the micro gripper were analyzed by ANSYS piezoelectric coupled field module. The analysis results showed that the maximum displacement of the finger was about 233.9 μm when the maximum voltage of 200 V was applied to the piezoelectric actuator. The steady state displacement and the response time of the finger were 20.6 μm and 0.1 s respectively under a step voltage of 20 V. The static and dynamic characteristic of the micro gripper were measured by experiment. The experimental results showed that the displacement of the finger was 78.4 μm when a voltage of 150 V was applied to the piezoelectric actuator; the gripping force of the finger was 9.2 mN when a micro shaft (0.3 mm×8 mm) was gripped.