Piezoelectric laminated plates can be deformed into many patterns and have potential application prospect in the field of smart foldable structures. Knowing the large deformation actuation mechanism of such structures is the basis in the soft machine design. In this paper，using the equivalent single-layer model，a flexible piezoelectric laminated thin plate element based on the absolute nodal coordinate formulation（ANCF）is established. This plate element contains three layers，in which the base layer is made of linear elastic material，and the top and bottom layers are both made of piezoelectric materials. The constitutive equation of the piezoelectric material is introduced to derive the elastic force and the piezoelectric force，and the kinetic equations of the piezoelectric laminated thin plate are obtained. Three different forms of the curvature are introduced and the convergence of the results are analyzed. The correctness of the piezoelectric laminated thin plate element proposed in this paper are validated by comparing with the commercial finite element software ABAQUS，and a group of simulations are provided. Results show that when various voltages are applied to the piezoelectric actuators that located in arbitrary positions of the base layer，the flexible beam can achieve the desired shape smoothly. Stable results can be obtained under the conditions of fully covered，partially covered and multiple covered plate with piezoelectric materials，which means this plate element can be coupled with the one-layer linear elastic element. What’s more，dynamic responses of a plate with concentrated force are also investigated. Research in this work can be helpful to the understanding of complicated coupled nonlinear mechanics of flexible or soft structures driven by smart piezoelectric materials.