In order to improve the rapid positioning of precision mechanical devices and the amplification ability of displacement amplification structures for the output displacement of piezoelectric stacks in piezoelectric linear motors, a new kind of double-foot driving piezoelectric linear motor with secondary lever and flexible hinge was proposed. First, the operating principle of the motor was analyzed and the trajectory equation of the driving feet was formulated. Next, the parameters of the straight circular flexure hinge were optimized in order to improve the output performance; the optimal hinge parameters obtained were thickness th=0.2 mm, cutting radius Rh=1 mm, and width bh=10 mm. Finally, the prototype motor was designed, and the amplitude, speed, and load performance were tested. The motor speed was analyzed based on the orthogonal test method; our analysis revealed the sensitivity of the motor speed on the voltage. Our experimental results revealed displacement amplitudes of the driving feet Ⅰ and Ⅱ in the range of 75 μm and 63 μm, respectively, i.e., the difference is about 12 μm. Furthermore, the speed was observed to reach 16.163 mm/s under a voltage of 120 V and a signal excitation of frequency 110 Hz, and a maximum load capacity of 1.7 N was obtained. Compared with existing piezoelectric linear motors, our motor possesses the advantages of a simple structure, easy installation and debugging, fast response, large amplitude, high speed, and stable operation.