A multi-modal piezoelectric ceramics composite (MMPC) is proposed, which can control bending and torsional deformations simultaneously. MMPC consists of piezoelectric ceramics, resin and electrodes. Electrodes are specially arranged so that both d33 and d15 effects of the piezoelectric ceramics can be driven simultaneously. The performances of MMPC as an actuator and a sensor are calculated by a finite element method and compared with those of PZT plate and Macro Fiber Composite. From the results, it is found that the proposed MMPC has a good feasibility as a multi-modal actuator and sensor.