This study proposes a rotary traveling wave ultrasonic motor utilizing the B (0, 5) axial bending mode of a ring-shaped stator. The proposed motor had a compact structure as only four groups of piezoelectric (PZT) ceramics were nested into the stator to produce a bending traveling wave, a new design method was proposed utilized less PZT ceramics to reduce the volume and to improve the mechanical output characteristics. The operating principle of the proposed motor was illustrated. The finite element analysis was performed to obtain the vibration modes and the motion trajectories of the stator. A prototype was manufactured to validate the operating principle. The two standing waves and the motion trajectories of the driving tips were measured. The results denoted that this motor obtained an output speed of 53.86 r/min under a preload of 0.69 N when the frequency and voltage were 24.86 kHz and 250 Vp-p, the maximum stall torque was tested as about [Formula: see text] under the preload of 3.14 N. Finally, this study was compared with a previous design and it was found that the volume was reduced markedly; furthermore, the no-load speed, the efficiency, the torque density and the power density were improved significantly.