To develop a new type of piezoelectric motor with high speed, high power, and high efficiency output, this study proposed a novel low-friction type piezoelectric rotary motor based on centrifugal force. The construction, working principle, and torque generation mechanism of the motor were described. The motor is started up to a special speed by an external torque, and can be operated in a certain frequency range. The revolution speed of the rotor was designed to be strictly equal to the exciting frequency of piezoelectric transducers, thus this speed is considerably high. The prototype produced power of up to 8.45 W at 9120 r/min with an average efficiency of 25.3%. The feasibility of the proposed motor was verified, the power consumption was analyzed, and the possibility of realizing a larger efficiency was explained. Finally, the potential applications of this new type of piezoelectric motor were discussed.