A non-contact piezoelectric motor modulated by an electromagnetic field，which can achieve the coupling drive without contact between the stator and rotor，and has the characteristics of structural reliability，operation stability， and control convenience. In this paper， the formulas of angular displacement of driving mechanism， static electromagnetic moment and dynamic electromagnetic moment of electromagnetic modulated non-contact piezoelectric motor are deduced. The influence of the structure parameters and modulation signal parameters on the angular displacement of driving mechanism and the output performance of electromagnetic moment are analyzed. Moreover，the prototype is made and the performance test is carried out. The validity of the theoretical analysis is verified by comparing the theoretical calculation of the output torque with the experimental test value， and the driving scheme of the prototype is given. The results show the output step angle increases with the increase of the peak voltage of the driving signal. When the driving voltage is 150V，and the frequency is 3Hz，the output step angle is about 0.82°. The output torque is greatly affected by the voltage excitation peak and the driving frequency of the electromagnetic modulation mechanism. The driving frequency is 3Hz， and the output torque is 6.1 N·mm when the modulation voltage is 7V. This type of piezoelectric motor further broadens the research field of non-contact piezoelectric motor， and provides a reference for the design of high precision and large torque non-contact piezoelectric motor.