A curved haptic actuator according to an embodiment may comprise: a housing having a receiving space and having a shape where the receiving space and an outer appearance thereof are bent outward; a vibration unit disposed in the receiving space, being movable along the longitudinal direction of the housing, and having a shape bent upward; elastic bodies connected to an inner wall of the housing and both sides of the vibration unit; and a magnetic field generation unit which is installed on the inner wall of the housing and generates a magnetic field and applies the magnetic field to the vibration unit.