A new type of high efficient piezoelectric rotary actuator is designed and developed to solve the problem of low energy efficiency and poor rotational mechanics performance. The actuator adopts the piezoelectric bimorph group as the prime driver. Through the dual clutch coupling transmission, all torsion movement of positive and negative directions is converted into continuous rotation output. In this way, it improves the energy efficiency. By the symmetric structure design and installation of piezoelectric bimorph group, it improves the drive mechanics performance and stiffness. The theoretical analysis, the finite element simulation and the research show that the rotate speed of the rotary actuator has a linear relationship with the frequency and the pressure of the drive signal. The drive bearing capacity is improved significantly. The actuator has the advantages of compact structure and small size. It can be driven by ordinary sine signal and does not require special driving signal or special sequential control circuits. The actuator performance is stable and reliable with the simple and efficient control. It is suitable for the application in the micro drive field.