The invention relates to a piezoelectric driver for improving the performance based on a four-foot coupling motion mode and a control method, and belongs to the field of precision machinery. The piezoelectric driver comprises a base, a flexible mechanism, a piezoelectric element, a pre-tightening cushion block and a rotor, wherein the flexible mechanism is matched with the piezoelectric element togenerate micron-scale motion to drive the rotor to rotate through the driving feet which are rotationally and symmetrically distributed; the piezoelectric element converts electric energy into kinetic energy based on an inverse piezoelectric effect and drives the flexible mechanism to act; the pre-tightening cushion block is used for matching with a pre-tightening screw to adjust the friction force between the driving feet and the rotor; and the rotor serves as an output terminal of the driving device. The piezoelectric driver has the advantage of high rotation angle resolution, stable motion, quick response, high rotation speed and the like, and has the characteristics of no electromagnetic interference, compact structure, light weight, simple processing, simple and convenient assembly,low cost, low power consumption and low noise. The piezoelectric driver is wide in application range and has good application prospect in the fields of precision instruments, precision optics, aerospace, micromanipulation and the like.