Piezoelectric active vibration control holds paramount importance in space structures. An embedded piezoelectric actuator with a sandwich configuration is proposed, which enhances control accuracy by integrating various components. Firstly, the electromechanical coupling characteristics of the actuator are revealed, and the model is established. Secondly, the equivalent model of a cylindrical cantilever beam is investigated as the object, and the feasibility of the vibration control of the actuator is verified by simulation. Finally, the prototype comprised of two actuators, which respectively use the proposed embedded actuators for producing the vibration and suppressing the vibration, is developed, and the measurement system is constructed. Experimental results demonstrate the excellent control efficiency in two orthogonal directions, achieving a minimum vibration amplitude control of 0.001 02 mm and a maximum vibration control of −42.74 dB. The integrated structure offers fast response, lightness, adaptability, and high control efficiency, which is conducive to enhancing the vibration control.