The piezoelectric crawling stage is a significant actuator to micro/nano-scale motion control, determining the positioning accuracy by its speed regulation’s precision. However, in the open-loop fast response speed control, the piezoelectric crawling stage often adopts a frequency-controlled speed regulation method. The method cannot compensate for the rate-dependent characteristics of piezoelectric ceramics, causing the periodic motion step size to be influenced by the frequency, ultimately leading to a degradation in the positioning accuracy of the piezoelectric crawling stage. To address this issue, this paper proposes a high precision step-controlled speed regulation method for the piezoelectric crawling stage. This method can combine the velocity formula, control the step length through the peak-to-peak value of the shear piezoelectric stack voltage signal based on the voltage-displacement relationship at a certain frequency, thereby ignoring the influence of rate-dependent characteristics and meeting the speed regulation requirements. Experiment demonstrates that the high precision step control speed regulation method are superior to the traditional frequency-controlled speed regulation method, with the open-loop position error of piezoelectric crawling stage reduced from 9.642% and 17.009% to 0.282% and 0.729%, respectively.