A vibration actuator combines plural elastic members and vibration elements to generate torsional vibrations about an axis and longitudinal vibrations in an axial direction. The vibration actuator includes a fixed member passing through a hollow portion of a plurality of vibration elements and supports the vibration elements within a gap in an inner surface of the vibration elements. A combination of semicylindrical members generate a second order torsional vibration around the axis and a first order longitudinal vibration in the axial direction of the vibration actuator. The fixed shaft also passes through a hollow portion of the vibration element. The vibration element and the fixed shaft are affixed by a pin, thereby eliminating a need for a more restrictive connection with bolts. Thus, vibration restriction of the vibration actuator is enhanced and driving efficiency is increased.