An exemplary piezoelectric driving module includes a movable barrel, a fixed barrel receiving the movable barrel, a piezoelectric actuator, and a spring member. The piezoelectric actuator is configured for moving the movable barrel relative to the fixed barrel. The piezoelectric actuator includes a piezoelectric body mounted on the sidewall of the fixed barrel and a friction member mounted on the piezoelectric body. The piezoelectric body is configured for driving the friction member to generate elliptical vibration. The friction member is in frictional contact with the movable barrel. The spring member connects the movable barrel to the fixed barrel. The spring member is configured for providing an resilient force to make the movable barrel be in frictional contact with the friction member such that the friction member can be driven by the piezoelectric body to move the movable barrel along the central axis of the fixed barrel.