The present invention relates to a piezo actuator having an electrode structure for a torsional vibration mode, and to a rotation-type ultrasonic motor containing the same. In the piezo actuator having the electrode structure, electrodes may have different lengths from the center point of the piezo actuator in order to form an electrode structure having a pinwheel shape for enabling a torsional vibration mode. Thus, since the electrodes of the piezo actuator for generating torsional vibrations has a simple pinwheel wing structure, a rotor coupled along a groove formed in the side surface of the piezo actuator may be rotated using the torsional directional vibrations due to the electrode structure.