<p>Currently, most tubular piezoelectric actuators are designed using the axial bending vibration mode of a tubular stator. However, as stator height decreases, the vibration amplitude of the driving feet also diminishes, leading to a preference for slender designs that restrict the actuator’s overall dimensions. This paper proposes and fabricates a piezoelectric actuator based on the in-plane bending vibration mode of a tubular stator, operating under single-phase power excitation. A novel arrangement and excitation method for piezoelectric ceramics addresses the issue of grouped excitation during direction switching. Using COMSOL, the vibration characteristics of the tubular stator structure are analyzed, while a comprehensive simulation of the stator-rotor assembly explores how different driving feet positions impact rotor speed. Finally, a prototype of the piezoelectric actuator is fabricated, and its performance is tested. Experimental results show that under a 200 V_P-P excitation voltage, the actuator achieves maximum bidirectional speeds of 187.8 r/min and 286.1 r/min, and stall torques of 6.27 mN·m and 4.74 mN·m, respectively, verifying the accuracy of the overall stator-rotor simulation. This study provides a new solution for the miniaturization and performance enhancement of single-phase driven rotary piezoelectric actuators.</p>