A rotary reciprocating drive actuator includes: a movable body including a magnet fixed to a shaft portion to which a movable object is connected, the movable body being disposed to be capable of a reciprocating rotation about the shaft portion; a fixing body including a plurality of magnetic poles, a first magnetic attraction member, and a second magnetic attraction member that are disposed to face an outer circumference of the magnet, the plurality of magnetic poles including a plurality of coils, the first magnetic attraction member being configured to generate a first magnetic attraction force between the first magnetic attraction member and the magnet, the first magnetic attraction force defining a rotational center position of the reciprocating rotation of the movable body, the second magnetic attraction member being configured to generate a second magnetic attraction force between the second magnetic attraction member and the magnet, the second magnetic attraction force canceling an axis-radial load acting by the first magnetic attraction force on the movable body, in which a magnetic flux passing through the plurality of magnetic poles is generated by energization of the plurality of coils, causing the reciprocating rotation of the movable body about an axis of the shaft portion with reference to the rotational center position by electromagnetic interaction between the magnetic flux and the magnet.