The dynamic creep phenomenon of a piezoelectric actuator was confirmed by experiments. Based on the high frequency response of the piezoelectric actuator and the higher real time ability of the PID, a composite controller was proposed to compensate the dynamic creep. The composite controller used a direction inverse controller with Prandtl Ishlinskii operators as the feed-forward controller, and an increment PI as the feed-backward controller based on the online test results and demanded real time abilities, in which the parameters of PI were tuned by a fuzzy logic controller . The validity of compensating dynamic creep phenomenon of the piezoelectric actuator by the composite controller was verified. The results show that when a 0.1 Hz sine-wave is discretized into 20, 40, 80 stairs respectively, the dynamic creep corresponding the equal voltages has different creep processing and different creep ranges. It verifies that the dynamic creep is complex nonlinearity. It concludes that the proposed controller compensates both static creep and dynamic creep in different discretization stairs and the root-mean square errors(RMSE) of compensated creep have decreased by 71.4%, 69.0% and 64.6% respectively.