A kind of stress-type hybrid ultrasonic motors using longitudinal and torsional vibration modes (LTUM) is developed. Structure designs are carried out to the stress-type LTUM. It is put forward that the longitudinal PZT should be placed on the surface of the stator, and the operating mechanism of the motor is analyzed. The FEA software ANSYS is used to analyze the structure parameters which affect the 1st torsional vibration mode and the 2nd longitudinal vibration mode and the method to realize the frequency coherence between the 1st torsional vibration mode and the 2nd longitudinal vibration mode is proposed. The vibration and mechanical experiments for the stress-type LTUM with two rotors show that when the non-linear spring is used for applying pre-pressure, the load characteristics of the motor is better and the stalling torque of the motor with diameter in 20mm has reached 1.28 N·m.