The invention discloses a differential clamping inchworm-type piezoelectric linear motor. The motor comprises four clamping discs, an actuating module, two guide mechanisms, two connecting rods and two connecting springs. The four clamping discs, the two connecting rods and the two connecting springs form two units. The four clamping discs are all provided with center holes, the two clamping discsof each unit sleeve the connecting rods through the center holes, the two clamping discs included by each unit are divided into a main clamping disc and an auxiliary clamping disc, the main clampingdiscs are fixedly connected with the actuating module, and the auxiliary clamping discs are connected with the main clamping discs through the connecting springs; the four clamping discs are equal inshape and comprise circular discs, and piezoelectric ceramics are eccentrically arranged on the circular discs of the four clamping discs; each guide mechanism comprises a C-shaped sleeve, a guide rail is convexly arranged on the inner wall of the sleeve, and guide grooves are concavely arranged on the peripheral walls of the four clamping discs; the two units are respectively arranged in the twosleeves, and pre-tightening elements are additionally arranged to press the sleeves on the four clamping discs so that the guide rails are matched with the guide grooves. The contact force of the motor is stable during the working process.