A novel piezoelectric micro-positioner with long-travel and nano-stepping was designed based on the principle of inchworm motion. In structure design, the traditional single frame was updated to double actuators. With the novel principle of push-pull relay movement, the piezoelectric (PZT) actuator realized the great driving force and the long-travel. By using the finite element analysis software, the structure and the static and dynamic characteristic of piezoelectric micro-positioner were investigated. The experiment results show that the moving range of the piezoelectric micro-positioner is 11 mm with good stability, the loading capacity is 24.5 N, and the mini-real step is less than 20 nm.