In this manuscript, an adaptive control strategy is presented for piezoactuators with hysteresis and disturbance estimation. The adaptive control scheme learns the piezoelectric actuator’s inverse model with a Lyapunov-based adaptation law. Then, an adaptive estimator is used in a feedback loop to estimate hysteresis and disturbance. Therefore, the controller achieves accurate displacement tracking with hysteresis/disturbance uncertainties. Unlike many controllers, the proposed adaptive control scheme’s stability is guaranteed by Lyapunov direct method. The proposed controller’s performance in coping with hysteresis and disturbance is highlighted in different operating conditions.