In this work, a novel ultrasonic linear motor is proposed. The proposed motor has two driving feet and a simple structure. The torque applied to the motor is converted into a normal preload between the driving feet and the mover, avoiding the use of a large preloading mechanism. The vibration characteristics of the motor are studied by the finite element analysis method. Finally, the prototype is fabricated. The experimental system is established, and a series of experiments has been carried out to evaluate the performance of the motor in terms of maximum velocity and maximum output force, and the feasibility of the proposed motor is verified. The experimental results show that the maximum no-load velocities of the motor moving to the right and left are 85.2 mm/s and 76 mm/s, respectively, and the maximum output force is 1.96 N. The numerical simulation results show that the stator of the motor can be used as a displacement amplifying structure, which can effectively amplify one or two orders of magnitude deformation of the piezoelectric stack.