A precision rotary positioner with a large stroke driven by the non-resonant piezoelectric motor was proposed to solve the problem of short stoke, complicated structure and control of the precision positioner in optical waveguide packaging. The precision rotary positioner could meet the needs of large stroke and high precision by two driving modes of continuous actuating and stepping actuating. Firstly, the dynamic model of the rotary positioner was established and the kinematics formula of system was presented. Then, the principle of movement was analyzed and the impact factors of rotate speed were researched. Finally, the characters of rotate speed, step displacement, resolution and load were tested, and driving modes of continuous actuating and stepping actuating were discussed. The experimental results indicate that the top speed of precision rotary positioner reaches about 47 963.2 μrad/s at the driving sinusoidal voltage in a peak-peak value of 120 V, an offset of 60 V and a frequency of 180 Hz. Moreover, the rotary resolution of precision rotary positioner is about 3 μrad and the maximum load is 60 g. This precision rotary positioner has characteristics of large stroke, high precision, simple structure, stable controllability and fast response. As compared with the existing precision rotary positioner, the new one presented in the paper has more larger stroke, higher precision, simpler structure and is more convenient to be assembled, adjusted, and produced in batch.