In order to efficiently drive a low-power DC motor using microwave power transfer (MPT), a compact power-receiving device is developed, which consists of a rectenna array and an improved DC-DC converter with constant input resistance characteristics. Since the conversion efficiency of the rectenna is strongly affected by the output load, it is difficult to efficiently drive a dynamic load resistance device such as DC motor. Using both continuous-wave (CW) and pulsed-wave MPT, experiments are carried out on driving the DC motor whose load resistance is varying from 36 to 140 Ω. In the CW case, the measured overall efficiency of the power-receiving device is constant over 50% for the power density of 0.25 to 2.08 mW/cm². In particular, the overall efficiency is 62%, 70.8% for the power density of 0.25, 0.98 mW/cm² where the received power of the single antenna is 13, 50 mW, respectively. In the pulsed-wave case, the measured overall efficiency is over 44% for a duty ratio of 0.2 to 1 for the power density of 0.98 mW/cm².