This paper presents the design, modeling, optimization, simulation, and experimental study of a new asymmetric flexible microgripper driven by a piezoelectric actuator. By comparing the asymmetric microgripper with the corresponding symmetric one, new guideline is introduced to design the gripper mechanism. The uniqueness of the gripper lies in consistent working mode and first resonant mode shapes without the dense mode of resonance. The proposed asymmetric gripper is composed of a three-stage flexure amplification mechanism, which can achieve friction-free and clearance-free displacement amplification. The gripper adopts the separate design of driving arm and sensing arm to avoid possible interference between them. The key geometric parameters affecting the performance of the flexure hinge are selected and optimized. By resorting to the pseudo-rigid body model, the kinematic, static, and dynamic models of the asymmetric gripper are derived. The working stroke, clamping force, and resonant frequency of the designed monolithic gripper are verified by conducting both simulations and experiments. A variety of experiments on the successful gripping of micro-objects of different sizes and shapes demonstrate its promising use in practical micromanipulation and microassembly applications.