A vibratory driving device 1 comprising a shaft-like driving member 7, a electromechanical transducer 6 which can incline the driving member 7 and which can also displace the driving member 7 in the axial direction of the driving member, a movable member 8 which slidably engages on the driving member 7, a driving circuit 3 which can apply to the electromechanical transducer 6 a periodical frictional driving voltage to displace slidingly the movable member with respect to the driving member and an inclination driving voltage inclining the driving member, a waveform determiner 4 which determines a rising condition of a voltage or a current of the electromechanical transducer 6 when the inclination driving voltage is applied, and a position estimator which estimates a position of the movable member 8 based on the rising condition of a voltage or a current.