A new design of linear piezoelectric actuator using "A-shaped" structure was proposed, designed, fabricated, and tested. By fusion design of the piezoelectric transducer and the mechanical structure, the proposed actuator only uses the first bending vibration of the center piezoelectric transducer to work. Frequency degeneration is no longer needed, which enables the actuator to adjust its structural parameters according to the application conditions. When applying an alternating voltage at resonance frequency, the center piezoelectric transducer will be stimulated in the first bending vibration. The vibration energy transmitted to the two driving arms generates alternating tilting movements with a phase difference of 180° between the two driving feet, which enables the actuator to push the linear guide when a vertical preload is applied. Under the preload of 120 N, the actuator gained a maximum thrust force of 9.8 N and a maximum output power of 0.62 W with a self-weight of 0.061 kg. The maximum output thrust density and the maximum output power density were 160.6 N/kg and 10.2 W/kg, respectively.