The invention relates to the technical field of a voice coil motor, specifically to a voice coil motor driving method that can effectively reduce high frequency components in a motor driving algorithm, reduce the step amplitude and shorten the motor focusing time. The motor trip steps from an initial value to an intermediate value and then from the intermediate value to a target value. The voice coil motor driving method is characterized in that the magnitude steps between the initial value and a first intermediate value, between adjacent intermediate values, and between a last intermediate value and the target value include an intermediate step amplitude and slant waveforms at both ends, and the slant waveforms are fitted by an N-order transition waveform to reduce the step amplitude, where N is an integer greater than or equal to 1.