The development of compact precision instruments has raised the growing demand for miniature actuators. However, most miniature actuators failed to achieve balanced output performances, which limits the functionality of compact precision instruments. In this paper, a novel miniature impact drive mechanism (IDM) with balanced output performances is proposed. It adopts a spatial interdigital structure, which is helpful to decrease the whole size. The structure design and working principle are discussed in detail. Then, an IDM prototype with a size of 10 mm × 9.7 mm × 8 mm is fabricated, and its output performances are characterized. Experiment results indicate that the prototype has high motion stability in both forward and reverse motions. The maximum speeds of forward and reverse motions are 1.81 mm/s and 2.45 mm/s, respectively. While the resolution of forward and reverse motions reaches 12.55 nm and 8.77 nm, respectively. Besides, the maximum self-locking and thrust forces achieve 904 mN and 167.9 mN, respectively. The study provides a novel design of miniature IDMs, which could be beneficial to advance their practical applications.