The invention relates to a sticky-slip inertial linear actuator based on friction control of surface microstructure, which relates to an actuator to solve the problems that the output displacement andoutput force of the existing piezoelectric inertial actuator are small and the displacement fluctuation of the actuator is large. The actuator comprises a flexure hinge amplifying mechanism, a piezoelectric stack actuator, a guide rail, a base, a mover and support balls. A magnify mechanism of that flexure hinge is fixed on the base, The piezoelectric stack actuator is installed on the flexure hinge amplifying mechanism, the piezoelectric stack actuator exerts a pretightening force through a pretightening connector screwed on the flexure hinge amplifying mechanism, a micro-structure is machined on the guide rail, and a friction material layer with self-lubricating characteristics in contact with the micro-structure is fixedly connected on the surface of the mover; Micro-structure can makethe forward friction large, reverse friction small, friction material layer with micro-structure, reduce the displacement of the actuator reverse backhaul displacement, improve the operation stability, and increase the unidirectional load capacity of the actuator. The present invention is used in the field of precision drive.