The invention relates to a multi-degree-of-freedom bionic piezoelectric driver, which belongs to the field of precision machining. The multi-degree-of-freedom bionic piezoelectric driver comprises a case, a stator and a rotor, and is based on a stepping operation mode, the stator does not have embedded elements, and by utilizing the combined action of the forward thrust of piezoelectric stacks and the backward resilient force of flexible hinges, the multi-degree-of-freedom bionic piezoelectric driver realizes the forward and backward motion and axial linear motion of the rotor of the driver. In addition, in terms of the tests of micro-characteristics of materials, the driver can simultaneously carry out the nano-level elongation and torsion tests of fine materials. Based on inchworm type piezoelectric drive, the multi-degree-of-freedom bionic piezoelectric driver has high-precision positioning and repetitive positioning capability, and can be applied in the fields of ultraprecision machining machine tools, the testing of nano mechanical properties of material test specimens, microelectromechanical systems, precision optics, aeronautics and astronautics, robots and the like. The driving precision of ordinary drivers can be greatly increased, and the multi-degree-of-freedom bionic piezoelectric driver has the advantages of high displacement control precision, quick response, high driving force, low driving power, wide operating frequency, low cost, little investment, quick return, high benefit and the like.