Multi-piezoelectric drive is an effective scheme to break through the displacement travel limit of nano-piezoelectric drive mechanism. However, there are some problems such as inherent hysteresis nonlinearity, piezoelectric drives intercoupling, nonlinear and linear coupling, overdrive redundancy and so on. Inspired by those challenges, this paper presents an electromechanical coupling dynamics modeling and overdrive control strategy of a multi-piezoelectric parallel driving mechanism. Firstly, an Hammerstein electromechanical coupling dynamics model is built to separate and describe the linear and nonlinear characteristics of the multipiezoelectric drive mechanism. Meanwhile, it is proposed that the parameter estimation method for the linear and nonlinear parts of the model. Secondly, it proposes a comprehensive overdrive control strategy, which integrates feedback linearization, control distribution algorithm, and upper level control rate. Especially, the proposed least square control distribution algorithm can minimize the 2-norm of error sequence. Finally, parameter estimation experiments and over-actuated control experiments were carried out for the proposed modeling and control methods. The results of the parameter estimation experiments showed that the proposed model′s output curve closely matched the experimental output curve of the multi-piezoelectric driving mechanism, effectively describing its hysteretic nonlinear input-output characteristics. The results of the over-actuated control experiments demonstrated that the trajectory tracking performance of the proposed least squares control allocation algorithm was superior to both direct allocation algorithm and optimal allocation algorithm. Specifically, when the desired trajectory was a sinusoidal signal with an amplitude of 130 μm and a frequency of 10 Hz, the accuracy of the proposed least squares control allocation algorithm was 56.63% higher than that of the direct allocation algorithm and 47.83% higher than that of the optimal allocation algorithm.