An ultrasonic linear actuation device includes a mover and a plurality of stator sets. The mover includes at least one mover rack. The plurality of stator sets is located in correspondence with the mover. Each of the plurality of stator sets includes an actuating component and a plurality of stator racks. The actuating component is used for stimulating corresponding one of the plurality of stator sets to generate standing-wave oscillations in an oscillation direction, such that the plurality of stator racks of each of the plurality of stator sets can engage the at least one mover rack of the mover to allow the stator racks to mesh the corresponding mover rack and thus to displace the mover in a moving direction.