Piezoelectric ultrasonic actuators are widely used in small-scale actuation systems, in which a closed-loop position control is usually utilized. To save an additional torque sensor, the intrinsic measurement capabilities of the piezoelectric material can be employed. To prove feasibility, a motor setup with clearly separated actuation for the friction and driving forces is chosen. The motor concept is based on resonant ultrasonic vibrations. To assess the effects of the direct piezoelectric effect, a capacitance bridge-type circuit has been selected. Signal processing is done by a measurement card with an integrated field-programmable gate array. The motor is used to drive a winch, and different torques are applied by means of weights to be lifted. Assessing the bridge voltage, a good proportionality to the applied torque of 1.47 mV/mN·m is shown. A hysteresis of 1% has been determined. The chosen motor concept is useful for intrinsic torque measurement. However, it provides drawbacks in terms of limited mechanical performance, wear, and thermal losses because of the soft piezoelectric material. Future work will comprise the application of the method to commercially available piezoelectric actuators as well as the implementation of the measurement circuit in an embedded system.