The effect of the piezoelectric ceramics excited Lamb wave on the oil droplet movement on the steel plate is studied. By analyzing the motion equation of oil droplets on the surface of steel substrate, three variables affecting the displacement of oil droplets movement were obtained. The excitation voltage, oil droplet volume and plate inclination angle were treated as three different conditions to study the driving effect of Lamb wave on oil droplets. The experiments showed that when the excitation voltage and oil droplet volume were constant, the motion displacement of the Lamb wave driven oil droplets increased with the increase of the substrate inclination angle, and this feature was more obvious when the oil droplet volume was 10 μL; when the substrate inclination angle and oil droplet volume were constant, the displacement of the oil droplet increased with the increase of the excitation voltage, and the displacement of oil droplet was larger when the oil droplet on the inclined substrate than that on the horizontal substrate; when the substrate inclination angle and the excitation voltage were constant, the driving force of Lamb wave increased with the increase of the volume of the oil droplet, therefore the displacement of the oil droplet increased. The oil droplet with a volume of 30 μL was more affected by the driving and its motion displacement is significantly larger than those of 10 μL and 20 μL oil droplets.