A piezoelectric actuator has a vibrating member having a generally central portion and a vibratable cantilever extending from the central portion. The cantilever has a first major surface, a second major surface opposite the first major surface, a first end integrally connected to the central portion, and a second free end. A piezoelectric element is connected to the second major surface of the cantilever and is driven by a voltage signal applied thereto to undergo expansion and contraction to vibrationally drive the cantilever. A moving member is in contact with the first major surface of the cantilever to be frictionally driven by vibration of the cantilevers in response to expansion and contraction of the piezoelectric element.