The invention discloses a two-degree-of-freedom ultra-precise micro object operator and an excitation method thereof, and belongs to the technical field of piezoelectric driving. The invention solvesthe technical problems of complex structure, insufficient stroke and single degree of freedom of a current micro object operator. The micro object operator consists of a tail end clamping jaw, a driving foot, a piezoelectric ceramic tube and a base, wherein the piezoelectric ceramic tube is a main driving component and is used for generating bending deformation and telescopic deformation so as todrive the tail end clamping jaw to move by the driving foot. The operator disclosed by the invention can generate ultra-precise linear and rotational motions of the tail end clamping jaw along and around the axis of the tail end clamping jaw by various excitation methods. Based on different excitation methods and working places, the numbers of the piezoelectric ceramic tubes and the driving feet can be changed. The micro object operator disclosed by the invention is compact in structure and flexible in arrangement; the excitation method is flexible, diverse and high in reliability; and the two-degree-of-freedom ultra-precise micro object operator and the excitation method thereof are convenient to apply to the technical field in which the micro object operation needs to be carried out.