In this paper, a new piezoelectric-actuated biaxial compliant microgripper with long strokes is proposed for automatically gripping and rolling tiny rigid objects. In order to improve the working stroke and maintain a compact footprint, a counter-side distributed two-stage lever amplifier with parallelogram mechanism is introduced. Based on the pseudo-rigid body model, analytical models of the displacement amplification ratio, input stiffness, and natural frequency of the left- and right-sided gripper mechanism are established. Structural optimization and performance simulation of the proposed microgripper mechanism are carried out with finite element analysis simulation. A prototype microgripper has been fabricated for open-loop and closed-loop tests to verify its working capabilities. The clamping and rubbing experiments show that the designed microgripper can grasp and rub an optical fiber with the diameter of 200 μm for rolling over 45°. The developed microgripper has a promising application in precision micromanipulation fields such as optical fiber alignment. Through a series of open-loop and closed-loop experiments on the developed prototype, it is demonstrated that the proposed dual-axis microgripper has superior working performance. The clamping stroke and rubbing stroke of the gripper are 251.2 μm and 225.0 μm, respectively. The first two natural frequencies of the gripper are 350.63 Hz and 603.37 Hz, which correspond to the working modes of the right-side and left-side gripper mechanisms, respectively. The closed-loop experimental results show that the resolution of output displacement of the gripper is close to 1.2 μm and the resolution of the clamping force is 3 mN. As compared with the reported microgrippers in previous work, the designed mechanism exhibits both a large working stroke and high resonant frequency for ensuring the reliability and rapidity of micromanipulation task.