Two cylinder-shaped ultrasonic motors 4.8mm in diameter were developed. This kind of motor was driven by four pieces of piezoelectric materials, which were used to excite the two first-bending vibrations. Pb(Mg1∕3Nb2∕3)O3–PbTiO3 (PMNT) crystal and Pb(Zr,Ti)O3 (PZT) ceramic piezoelectric materials were used as drive elements. The motor based on PMNT crystals could operate at a voltage of 25Vp-p (peak to peak). When driven by a 100Vp-p voltage, the motor could run at frequency ranging from 26to68kHz and the revolution speed reached 450rpm. Its maximum output torque was 0.6mNm. The motor based on the PZT ceramic did not exhibit high performance as the PMNT crystal motor. The piezoelectric materials affect the performance of the motors greatly.