The invention provides an accurate pressing composite type motion actuator with a built-in pressure sensor. The accurate pressing composite type motion actuator comprises a bearing shaft and a rotarymotion actuator; one end of the bearing shaft is used for being connected with a load, and the other end is connected with a connecting block; the connecting block is fixedly connected to a linear motion actuator, the linear motion actuator drives the connecting block to perform linear motion, and therefore, the bearing shaft is driven to perform axial reciprocating motion; a pressed sheet is arranged between the rotary motion actuator and the connecting block and arranged on the bearing shaft in a sleeving manner, and besides, the pressure sensor is connected with the side, close to the pressed sheet, of the connecting block; clearance is reserved between the pressed sheet and the pressure sensor, and slide clearance is reserved between the connecting block and the bearing shaft; when themotion, driven by the connecting block, of the bearing shaft to the load is blocked, the connecting block drives the pressure sensor to slide downwards relative to the bearing shaft, and the pressuresensor is contacted with the pressed sheet; and by means of limited space, the whole module has small size, cannot be disturbed by other structures, detects a value of applied pressure online and controls the value of pressure required to be applied.