In a driving and control apparatus of a piezoelectric ultrasonic motor, a controller controls a selection of a first channel or a second channel of the piezoelectric ultrasonic motor as a driving channel. A switch part selects one of the first and second channels as the driving channel and the other as a detection channel, and supplies the driving voltage to the piezoelectric ultrasonic motor through the selected driving channel. A phase detector detects a voltage outputted from the piezoelectric ultrasonic motor through the detection channel, calculates a phase deviation, and outputs a phase difference voltage corresponding to the phase deviation. A voltage controlled oscillator generates the oscillation voltage and controls a phase of the oscillation voltage according to the phase difference voltage. A frequency divider divides the oscillation voltage by two to generate the driving voltage, and supplies the divided oscillation voltage to the piezoelectric ultrasonic motor through the driving channel.