In this paper, a cantilever-based manipulator using (1-X)Pb(Mg 1/3Nb2/3)O3-XPbTiO3 (PMN-PT) single-crystal relaxor ferroelectric material is presented. We report the design of a novel piezoelectric multi-degree-of-freedom motion cantilever. The structure has interdigitated electrode (IDE) on the top and bottom surfaces of the cantilever and possesses both longitudinal and flexural actuation capabilities. PMN-PT materials are ideal for actuator applications since they exhibit a very high piezoelectric strain. We separately partern interdigitated electrode (IDE) on the top and bottom surfaces of a single crystal cantilever beam. Furthermore, we propose a novel L-shaped cantilever manipulator that can provide up to four-degrees of freedom motion. The small and planar structure has potential applications in optical beam steering systems and nano-manipulators inside a scanning electron microscope.