Piezoelectric effect was discovered in the 19th century, but the applications of piezoelectric effect were realized until the 20th century. In this paper, piezoelectric actuators, which are made based on piezoelectric effect, are employed to establish a three-degree-of-freedom micro-manipulator. The mechanism of this micro-manipulator is designed as a parallel-type mechanism. The kinematics of the micro-manipulator is also analyzed. In addition, a remote control framework is implemented with a control system and this achievement can be a demonstration for future feasibility of application of this micro-manipulator to robotic systems.