The invention provides an ultrasonic motor, which is an ultrasonic motor provided on a shaft end of a rotation shaft. An output shaft of the ultrasonic motor is connected to the rotation shaft, a stator is rotatably provided on the output shaft, a rotor is fixed to the rotation shaft, a vibration generating component for generating an ultrasonic vibration is provided on either one of the rotor or the stator. A whirl-stop unit is provided between the stator and a fixed side for supporting the rotation shaft: the whirl-stop unit has a joint holder provided on the fixed side and a connection element provided on the stator: the joint holder has a ball holder for pressing a metal ball to the connection element in a circumferential direction and a connection pin holding the connection element between the ball holder and the connection pin, spanning over the joint holder and capable of tilting.