This chapter presents the conceptual design of a reconfigurable piezoelectric-driven microgripper to obtain both excellent static and dynamic performance for complex micromanipulation. For the first time, a flexure-based compliant microgripper is designed to realize three working modes. The analytical model of the microgripper is established based on the beam deformation theory and pseudo-rigid-body modeling approach. The multi-objective optimization is performed based on response surface methodology to determine the structural parameters of the mi-crogripper. A finite element model-based simulation study is implemented to evaluate the gripper’s static and dynamic performance. Moreover, a prototype of the microgripper has been fabricated for experimental testing. The results reveal that the microgripper obtains a large displacement amplification ratio of 55.17 in mode I, a high natural frequency of 838.09 Hz in mode II, and a balanced performance in mode III. The micromanipulationMicromanipulation capability of the microgripper has been demonstrated by executing gripping-holding-releasing operations of various tiny objects.