A vibration-type actuator that is capable of reducing an unnecessary vibration during driving includes a vibration body configured by connecting an electro-mechanical energy conversion element and an elastic body. A driven body is in pressure contact with the vibration body. A controller moves the vibration body and the driven body relatively by a vibration that is excited in the vibration body by applying driving voltage to the electro-mechanical energy conversion element so that a difference between a resonance frequency in a natural vibration mode of the vibration body that is higher than an upper limit frequency of a predetermined driving frequency range and that is nearest to the upper limit frequency and a frequency of the driving voltage is greater than a difference between a resonance frequency in a natural vibration mode used for moving the vibration body and the driven body relatively and the frequency of the driving voltage.