To enhance the output force of dynamic-friction type non-resonant linear piezoelectric motors, research is carried out on the vibration characteristics of the motor stator and its influence on the output force of the motor. By analyzing the construction and working mechanism of the motor, the longitudinal vibration model and pseudo-rigid-body model are established for the motor stator. Then, the vibration differential equations of the drive tip are deduced, and the longitudinal displacement function and transverse displacement function are proposed. In addition, the formula for the average output force in a period is proposed for the motor base using the work energy theorem. The longitudinal amplitude characteristics and thrust characteristics of the motor are simulated using the numerical analysis method. Finally, the prototype is designed and fabricated, and experiments on the longitudinal displacement of the drive tip and on the output force of the motor are performed under different excitation conditions. Both simulation and experimental results prove the vibration characteristic theory of the stator, that the longitudinal amplitude of the drive tip increases with excitation voltage, and that the output force of the motor increases with the longitudinal amplitude of the drive tip. Testing shows that the maximum amplitude of the drive tip is 0.92 μm and the maximum output force is 3.5 N, under the condition in which the operation voltage is 100 V and the frequency is 1.6 kHz. This research can provide a theoretical basis for the structural optimization of the motor stator.