Micromirrors with variable focal length are critical components of various optical systems. However, due to the limitations of microfabrication and actuation mechanisms, it is very difficult to control accurately the surface shape of a varifocal mirror. In this study, a novel surface-micromachined varifocal piston micromirror is presented. By simulating quasi-simply-supported boundary conditions, an accurate focusing of the mirror was achieved. The mirror is controlled by a parallel-plate electrostatic actuator. When the micromirror is actuated, as the driving voltage increases, the micromirror moves and deforms in two stages. In the first stage, four beams that support the mirror bend, which produces the micromirror vertical translation. When the translation reaches its limit, the micromirror enters the second stage, during which it bends to a concave shape and thus can focus light. A prototype based on the proposed concept was fabricated using a commercially available surface micromachining process. An analytical formulation, finite element model, and experimental measurements were adopted to study the electromechanical and optical performances of the micromirror. The focus length could be adjusted from 79.8 mm to 2.03 mm with a residual rms error less than 15 nm by changing the driving voltage. When the deformation reached its maximum, the first 21 Zernike aberration coefficients were all less than 3 nm. The proposed concept is also applicable to circular mirrors.