There are provided a piezoelectric actuator and a lens driving apparatus having the piezoelectric actuator. The lens driving device includes: a lens barrel having a lens hole where at least one lens is disposed, and having a tip friction member on an outer surface thereof; a base having a guiding part guiding the lens barrel to move along an optical axis direction; a piezoelectric actuator having a piezoelectric body disposed at an edge of the base to apply a driving force when a power is applied, the piezoelectric body having at least one friction member at one side thereof to be in contact with the tip friction member; and a preload member applying an elastic force for elastically supporting the piezoelectric actuator against the lens barrel to keep the tip friction member and the friction member in contact with each other.