The output characteristic of the linear ultrasonic motor was improved through the improvement of the driving foot structure and clamping method. A novel slabtype linear motor was designed, which consisted of the symmetric slabtype vibrators and flexible driven feet. The motor’s finite element model was established by ANSYS software and the operating mode was analyzed. The size of the motor was designed according to the modal consistency regulation. The driving frequency of the motor was reduced and the output efficiency was improved by making use of the bending mode of the slabtype structure. Since the driving foot of the motor has a certain flexibility, the prepressure application can be realized under the effect of the clamping component. Finally, the experiment on the prototype was carried out. The results showed that the modal test data of motor stator was identical with the simulation analysis. The operating frequency was 27.5 kHz, the phase difference of the applied two signals was 90° and there was no interference mode around it. The maximum output force was up to 44 N and the maximum speed was 267 mm/s with good consistency of twoway driving speed.