The present invention is multiple-freedom piezoelectric ceramic rod micro motor based on bending and vibrating mode in piezoelectric micro motor field of precise machinery. It is developed based on the principle that under the cooperation of two kinds of vibration modes in the same resonant frequency of one-order stretching vibration and first two-order bending vibration, creamic rod top will form an eliptical motion. The rod-like piezoelectric ceramic micro motor in the planar driver structure with two freedoms is made by means of the first-order or second-order complex vibration excitaion mode, and the rod-like piezoelectric ceramic micro motor in the spherical driver structure with three freedoms is made by means of the first-order or secon-order complex vibration excitation mode plus bending vibration excitation mode. The motor of the present invention has very small size, simple structure, great moment, fast response and thus wide application foreground.