The design and fabrication scheme of hexapod robot based on piezoelectric actuator is proposed in this paper. The dynamic modeling of the hexapod robot is carried out. The principle of the carbon fiber connecting rod transmission mechanism of the crawling robot is introduced, and the processing scheme of each part is proposed.The composite structure processing technology of multilayer material superimposition of piezoelectric actuator is introduced. The performance of piezoelectric actuator is tested and applied to the prototype of the crawl robot.The crawling test of the crawling robot prototype with a total mass of 4.631 g has been carried out at the DC bias voltage of 280 V, and the feasibility of the design scheme of the piezoelectricdriven hexapod crawling robot has been verified.