A vibratory driving device includes a shaft-like driving member, an electromechanical transducer which can incline the driving member and which also can displace the driving member in the axial direction of the driving member, a movable member which slidably engages on the driving member, a driving circuit which can apply to the electromechanical transducer a frictional driving voltage displacing the driving member back and forth with a speed varying asymmetrically in the axial direction to slidingly displace the movable member with respect to the driving member and a periodic inclination driving voltage oscillating the driving member, a resonance frequency meter which measures a resonance frequency of the inclining oscillation of the driving member, and a position estimator which estimates a position of the movable member based on the resonance frequency.