<p>Stick-slip piezoelectric actuators play a critical role in precision positioning systems. However, they generally suffer from oscillations during the transition between steps due to insufficient damping and stiffness, particularly under high-performance demands. To address the oscillations, an active-passive friction coupling actuation method (APFCAM) was proposed, wherein the passive friction unit was integrated with a traditional active driving unit to improve the damping and stiffness of the actuator system. A stick-slip piezoelectric actuator based on the APFCAM was developed, and its dynamic model was derived. Compared with the traditional stick-slip driving method, the consistent oscillation suppression of the APFCAM under various preload deformations, frequencies, voltages, and vertical loads was demonstrated by both simulations and experiments. Especially, the total oscillation duration <i>t</i>_s of the stick-slip driving method was 9.3 times that of the APFCAM under 80 V and 10 Hz. Simultaneously, the APFCAM maintained stable total oscillation duration <i>t</i>_s at various frequencies (1–100 Hz), voltages (20–120 V) and vertical loads (0–500 g). In addition, the APFCAM could effectively suppress oscillations in bidirectional motions. These findings validate the exceptional ability of the APFCAM for suppressing oscillations, thus demonstrating its potential for broader applications of stick-slip piezoelectric actuators.</p>