An haptic actuator includes: a base member; a hollow cylindrical coil arranged in the upper portion of the base member; a core formed in the base member and arranged so as to be inserted into the center of the coil; a cover member covering the upper portion of the base member; a vibration plate mounted on the cover member, arranged in the upper portion of the core, and moving in the vertical direction; and a vibration unit coupled to the vibration plate and spaced apart from the upper portion of the core. The vibration plate has a mounting portion fixedly mounted on the central area of the cover member and a coupling portion formed so as to extend from the mounting portion and be bent in the downward direction. The vibration unit has a permanent magnet coupled to the coupling portion and spaced apart from the core.