The invention discloses a rotary piezoelectric motor, and belongs to the technical field of precision driving and positioning. The rotary piezoelectric motor comprises double stators, an active cell,a pre-tensioning mechanism, a bearing seat, a stator seat and a base. The main body of the double stators is composed of a metal cross beam and a piezoelectric ceramic, an inner stator generates rotational vibration, an outer stator generates axial vibration, and the double stators are bonded together. The superposition of the vibration of the double stators generates the elliptical motion of a torus mass point of the inner stator, and an active cell shaft is driven to perform one-way rotational motion by friction. The rotary piezoelectric motor has the advantages that the working frequency islower, the working frequency is about 1000 hertz, and the requirement for a matched circuit is lower; the positioning accuracy is high, and the step angle can reach up to 0.01 degree; the structure is simple, the assembly is convenient, and the load capacity is large due to the contact of the whole torus.