Piezoelectric actuators are commonly used for precise positioning and driving due to their excellent properties of high accuracy, quick response, immunity to electromagnetic interference, and large stroke. Currently, there is no academic report that provides a systematic modeling and experimental evaluation of walking-type piezoelectric actuators. Accordingly, a walking-type piezoelectric actuator with triangular mechanisms is developed, dynamics simulated, and performance tested in this study. The dynamic models provide guidance for the design and optimization of walking-type actuators. The experimental results indicate that the actuator realizes a wide operating velocity range, stepping without backward motion, and high-precision positioning.