A haptic actuator may include a housing having a top and a bottom, and first and second coils carried by the top and bottom, respectively, of the housing. The haptic actuator may also include a field member carried by the housing. The field member may include a permanent magnet between the first and second coils, first and second ends, and a first mass between the first end and the permanent magnet, and a second mass between the second end and the permanent magnet. A first shaft may slidably couple the first mass to the housing, and a second shaft may slidably couple the second mass to the housing. The haptic actuator may also include a first set of biasing members between the first end of the field member and the housing and a second set of biasing members between the second end of the field member and the housing.