To meet the application requirements of narrow spaces, low voltage, and high driving force, a multi-legged linear miniature ultrasonic motor based on a single bending vibration mode was proposed. Firstly, the stator structure was designed according to the driving principle of the ultrasonic motor. Using the finite element software ANSYS Workbench, a dynamic simulation model of the stator was established, followed by structural optimization and dynamic analysis. The final dimensions of the stator were determined to be 8 mm×1 mm×0.6 mm, with measured resonant frequency errors of 6.99% and 5.46%, respectively. Finally, a nonlinear simulation contact model between the stator and mover of the motor was created to verify the feasibility of the bidirectional drive of the ultrasonic motor. A driving performance test device for the micro linear ultrasonic motor was constructed. The measured results indicated that with a driving voltage of 60 Vpp, the maximum no-load speed was 53.3 mm/s, the maximum load was 43.3 mN, and the thrust-to-weight ratio was 280. Experimental results demonstrate that the micro ultrasonic motor has a viable principle, a simple and compact structure, and good output performance, suggesting broad application prospects in precision drive fields such as optical systems, precision positioning systems, and mobile terminals.