In response to the difficulty of traditional micro-motion platforms in meeting the requirements of micro/nano positioning, a two degree-of-freedom piezoelectric micro-motion platform based on hydraulic amplification is proposed and its structural design is created. The orthogonal design method was used to analyze the bidirectional fluid-structure coupling and optimize its structural parameters. A physical prototype was developed and experimental research was conducted. The open-loop experimental results show that when a 90 μm displacement is input into the piezoelectric actuator, the maximum displacement of the piezoelectric micro-motion platform is 603.0 μm, and the magnification is approximately 6.7. The closed-loop control experimental results show that using a segmented PID algorithm can reduce the overshoot, shorten the response and steady-state times, and reduce the steady-state error to ±0.2 μm. Thus, the micro-motion platform can realize precise large-scale positioning.