Abstract: With the wide application of piezoelectric compliant mechanism in high frequency vibration environment such as aerospace engineering and precision machining, it is urgent to develop a topology optimization method for designing the piezoelectric compliant mechanism with large stroke and high frequency response. Current topology optimization methods for compliant mechanisms primarily focus on improving the output stroke while ignoring their dynamic characteristics. In this paper, a topology optimization method for piezo-embedded compliant mechanism is proposed, which considers both output stroke and dynamic characteristics. Firstly, to more accurately describe the interaction between the piezoelectric actuator and the compliant mechanism, the piezoelectric actuator is directly coupled into the analysis model, establishing a mechanical-electrical coupling optimization analysis model for the piezo-embedded compliant mechanism. Secondly, based on the density-based method, a topology optimization method of piezo-embedded compliant mechanisms, considering the fundamental frequency constraint, is established with the aim of maximizing the output stroke of the mechanism. The p-norm approximation function is adopted to alleviate the non-differentiability issue arising from repeated eigenvalues and mode switching during the iterative process. Furthermore, using the adjoint method and chain derivation method, the sensitivities of the objective function and constraints with respect to design variables are derived. Finally, several numerical examples are provided to verify the effectiveness of the proposed optimization method and to demonstrate the influence of fundamental frequency constraints on the optimized results. Numerical results show that the proposed method achieves a sable iterative process, fast convergence, and effectively provides a high output stroke design while satisfying fundamental frequency constraints.