The asymmetrical rotated piezoelectric actuator is mainly driven by a sawtooth wave,namely, a kind of asymmetrical wave. On the basis of the ability of symmetrical wave drive and the principle of the converse piezoelectric effect, a design scheme using symmetrical wave to drive the piezoelectric cantilever bimorphs is proposed. The symmetrical wave is acted on the piezoelectric cantilever bimorphs to get inertial impact forces in different directions to drive the rotated actuator to realize the movement. The dynamic model of the rotated actuator is constructed, whose movement principle is also analyzed.An experimental system is built and the rotated actuator’s velocity characteristics under different frequencies and voltages are tested. The results show that the asymmetrical rotated piezoelectric actuator realizes a stable and forward direction movement. When the voltage is 20 V and the frequency is 2 Hz square wave, its average step is up to 12 μrad and the rotation velocity is up to 24 μrad/s. The rotated actuator can provide the maximum stroke in 360°, carrying capacity to 300 g, resolving capability in 5 μrad, and rotation velocity in 4 000 μrad/s.