An inertial impact rotating piezoelectric motor based on disk symmetric drive is proposed in this paper. The motor is mainly composed of stator, rotor, driving foot and pre-tightening device. The motor excitation signal is sawtooth wave signal, using the piezoelectric stack excitation to realize the high power output of the motor. The stator and the pre-tightening device are integrated through the screw, realizing the compactness and miniaturization of the motor structure. A motor prototype is designed and fabricated, and the working principle of the motor is verified by experiments. The comprehensive performance of the motor is analyzed and tested. The test results show that when the preload applied by the motor pre-tightening device is 1 N, the input excitation voltage is 80 Vp-p, and the excitation signal frequency is 1 kHz, and each cycle of sawtooth excitation signal is output, the next one is output with a delay of 100 ms to study the static starting characteristics and step length of the motor. The measured maximum no-load speed of the motor is 3.05 r/min, and the average step length is 0.032 rad. When the excitation signal frequency is 3 kHz, the maximum no-load speed of the motor is up to 9.1 r/min, and the maximum load of the motor can reach 16.2 N·mm. The motor can rotate within the excitation signal frequency ranging from 0.5 kHz to 3 kHz.