The invention discloses a stepping actuator device driven by two piezoelectric ceramics and comprising an E-type rail, and a method. The actuator device comprises two fixed rails fixed on a pedestal and linked with the pedestal through a flexible hinge, a driving rail capable of moving up and down in a small range, and a clamping control-displacement output structure which is mounted between the fixed rails and the driving rail and can realize transition of a clamping state with the rails. The invention also providing an actuating method, the piezoelectric ceramics and a motor are driven according to a certain order, large stroke linear displacement output between the clamping output structure and the pedestal can be realized; the device has a power failure locking function, after power isfailed, the device can keep being in the current actuating position; and the actuator has the characteristics of large output stroke, high output resolution, light weight and simple control waveform.