A self-resetting piezoelectric semi-active friction damper comprises a shell and sleeves, wherein the shell comprises a top cover and a small box. One end of each sleeve is arranged on a base at the bottom of the small box, the other end of each sleeve is arranged on a top seat below the bottom of the top cover, a certain gap is reserved between the top seat and the other end of the corresponding sleeve, piezoelectric ceramic drivers are placed in the sleeves, leads of the piezoelectric ceramic drivers extend out of the damper through small grooves in the side faces of the sleeves and long and narrow hole grooves in the side walls of the small box and are connected with an external power supply, gaskets are arranged at two ends of each piezoelectric ceramic driver, a baffle is fixed to one side wall of the small box through a fixing screw, pre-pressure is applied by pre-tightening screws on the top cover, a balancing pull rod penetrates the baffle and is connected with the outer wall of the left sleeve, a connecting pull rod is fixed to the left side wall of the small box through a hexagonal nut, an actuating pull rod penetrates one side wall of the small box and is connected with the right sleeve, and reset springs are arranged on the balancing pull rod and the actuating pull rod respectively. A control system of the self-resetting piezoelectric semi-active friction damper is simple, the performance of the piezoelectric ceramic drivers is stable, the pre-pressure is conveniently applied, output energy is less, power output is high, and a piston can automatically reset.