The invention provides a piezoelectric motor driving device, comprising a base, a driving mainbody, and a motion mainbody which is arranged above the driving mainbody; the driving mainbody comprises two piezoelectric motors and a friction coupling head; each piezoelectric motor comprises one end fixedly connected with the base and the other end far away from the base; the friction coupling head is arranged at one side of the motion mainbody and is fixed between the other ends of the two piezoelectric motors; two piezoelectric motors can generate the telescopic motion after getting the drivingsignal; when one piezoelectric motor extends and the other piezoelectric motor is contracted, the two piezoelectric motors drive the motion mainbody to move by the friction coupling head. The piezoelectric motor driving device has the advantages of stable motion, small noise, smaller friction between the friction coupling head and the motion mainbody, not being easy to generating dusts and the like.