Traditional piezoelectric inertia motors are generally driven at a quasi-static frequency range, which results in a relatively slow working frequency, small amplitude, low moving speed, and low torque. In this paper, a resonant-type piezoelectric inertia linear motor was designed based on mechanical vibration wave synthesis. The driving mechanism of the motor was studied, and the structure sizes of the vibrator were obtained by the finite element optimization method. A periodical sawtooth-like waveform of the vibrator’s displacement was produced by composing two sinusoidal movements of a frequency ratio of 1:2. A vibrator was designed, and a prototype motor was fabricated, test and analyzed. The no-load maximum speed was 32.4 mm/s with a drive voltage of 300 Vp-p for a base frequency of 529.5 Hz. At a preload force of 10 N and a driving voltage of 400Vp-p for the base frequency of 592.5 Hz, the maximum load capacity of the motor reached up to 1 N. The experimental results confirm the effectiveness of the design, and show that resonant-type piezoelectric motor has excellent characteristics.