The invention provides a bend-twist coupling type piezoelectric driving track traveling device and a working method thereof. The device comprises a metal track, two annular components and a variable cross-section piezoelectric transducer, wherein the annular components are arranged at two ends of the variable cross-section piezoelectric transducer; the variable cross-section piezoelectric transducer comprises a plurality of sets of piezoelectric ceramic pieces, two pre-tightening wedge blocks and a variable cross-section beam; and the piezoelectric ceramic pieces are arranged in a certain order and are fixed in a groove of the variable cross-section beam through the pre-tightening wedge blocks. According to the bend-twist coupling type piezoelectric driving track traveling device and the working method thereof, by stimulating the piezoelectric ceramic pieces, a torsional vibration mode and a bending vibration mode are stimulated on the variable cross-section beam, so that a traveling wave, with n (n being greater than or equal to 2) wave crests and wave troughs shown all together, rotating along the peripheral direction is coupled on the annular components, the mass points on the outer surfaces of the annular components carry out micro-amplitude elliptical motions and drive the metal track to move through the action of friction, and the device has the advantages of compact structure, large force (torque) weight ratio, high environmental suitability, structure form flexibility, high speed, high electro-mechanical coupling efficiency and the like.