A magnetic head actuator includes a head-holding substrate having a pair of movable arms for clamping a magnetic head, and piezoelectric elements fixed along the pair of movable arms to move the pair of movable arms in response to an applied voltage. The head-holding substrate comprises a fired glass-ceramic compact containing at least one of SiO.sub.2, B.sub.2O.sub.3, and Al.sub.2O.sub.3. The piezoelectric elements are formed on the head-holding substrate with a piezoelectric material by printing and low-temperature firing.