In order to enrich the structure of planar ultrasonic motor, a planar ultrasonic motor driven by same type bending of dual-cross piezoelectric vibrator was proposed. With the in-plane and out-of-plane bending coupling of the longitudinal bars and crossbars of the dual-cross piezoelectric vibrator, two elliptical trajectories along xoz and yoz planes were synthesized on the two-rod driving feet to alternately push the mover along the x, y directions. The driving principle of the planar ultrasonic motor was analyzed, and the elliptial trajectory equation was derived. The electromechanical coupling model of the dual-cross piezoelectric vibrator was established, and the three-phase working modes were simulated. Based on structure optimization, the frequencies of three-phase working modes were consistent, which was 43 468, 43 552 and 43 569 Hz. The frequency nesponse characteristics of the dual-cross piezoelectric vibrator were simulated and the interference mode separation was realized. When the driving voltage was 250 V, the amplitude in x, y and z direction of the driving foot were 1.3, 0.8 and 0.9 μm, respectively, which met the motor drive requirements. The two elliptical trajectories of the dual-cross piezoelectric vibrator driving foot under the constant frequency excitation was simulated，which verified the effectiveness of the driving principle for the designed planar ultrasonic motor. This planar ultrasonic motor is expected to output greater speed and power, which has broad application prospects.