A miniature piezoelectric ultrasonic motor (USM) using the shear mode of (K,Na)NbO 3 (KNN)-based lead-free piezoelectric ceramics was developed. The motor can be driven in the shearing and bending vibration modes. By using the finite-element method, the motor vibration modes and driving mechanism were modeled. Both the ''soft-type'' (high-d USM) and ''hard-type'' (high-Q m USM) KNN-based lead-free piezoelectric ceramics were employed to clarify the characteristics of USMs. The experimental results reveal that the high-d USM widens the band of operational frequency in both vibration modes. In the shearing vibration mode, the high-d USM showed a revolution speed of 416 rpm, a torque of 41.5 mN m, and an efficiency of 0.6%, whereas the high-Q m USM showed the same characteristics of 313 rpm, 19.6 mN m and 1.6%, respectively. In the bending vibration mode, the characteristics of the high-Q m USM were 376 rpm, 51.4 mN m and 0.4%; however, the characters of the high-d USM deteriorated owing to the shift in resonance frequency caused by heat generation.