A performance evaluation of plate-type piezoelectric composite actuators (PCA) having different lay-up sequences was experimentally carried out at simply supported and fixed-free boundary conditions. The actuating displacement of the manufactured PCAs was measured using a non-contact laser displacement measurement system. It was shown that the actuating displacement with increasing applied electric field at a drive frequency of 1 Hz increased nonlinearly at the simply supported boundary condition whereas it almost linearly increased at the fixed-free boundary condition. In contrast, the actuating displacement of the PCAs depended on the applied electric fields in a drive frequency range from 1 Hz to 10 Hz. However, the displacement behavior of PCAs varied significantly at a higher range of drive frequency, i.e., beyond 15 Hz, due to the occurrence of resonance. On the basis of these experimental results, the bending characteristics of PCAs in relation to applied electric field, drive frequency, and boundary conditions were elucidated.