A novel magnetically levitated motor which has the ability to control five degrees of freedom was proposed. The proposed magnetic levitated motor uses a radial bearing-less motor to control both radial translation motion and rotation, and an axial magnetic bearing to control both axial translation and tilting motion. Moreover, stators were installed on the inner side of the rotor, such that the flux path of the axial magnetic bearing and radial bearing-less motor are partially-shared. Therefore, the proposed magnetic levitated motor is small, while achieving five degrees of freedom active control. The prototype device was designed using FEM. According to this analysis, the device had sufficient magnetic force to control the rotor within a designed airgap of ± 0.6 mm. Moreover, simulated dynamic characteristics showed good response performance of the proposed maglev system.