The invention provides a lens driving device, which comprises a base, a guide pillar fixed on the base, a lens bracket arranged on the guide pillar in a sliding mode, a motor seat arranged on the lens bracket, a piezoelectric motor, a friction coupling head, and a pre-tightening assembly arranged between the motor seat and the lens bracket, wherein one end of the piezoelectric motor along the optical axis direction of a lens is fixedly connected with the motor seat, while the other end is fixedly connected with the friction coupling head; and the pre-tightening assembly resists against the motor seat, and generates a first resisting component vertical to the optical axis direction of the lens to keep the sliding contact of the friction coupling head and the guide pillar and a second resisting component in parallel with the optical axis direction of the lens to keep the sliding contact of one end of the motor seat and the lens bracket. When the piezoelectric motor is connected with a driving signal which can slowly extend and quickly shrink, or slowly shrink and quickly extend the piezoelectric motor, the piezoelectric motor drives the lens bracket through the motor seat to move forwards or backwards along the optical axis direction of the lens. In the lens driving device, one end of the piezoelectric motor drives the lens bracket through the motor seat, thus the stroke and the quality of the lens bracket cannot influence the response capacity of the lens bracket on the vibrations of the piezoelectric motor.