Abstract: The production of famous tea cannot fully meet the huge market demand in China in recent years. The mechanized picking can also cause much more damage to the famous tea (bud, one bud, and one leaf) at present. Therefore, it is high cost and labor-intensive, because the famous tea relies mainly on manual picking so far. As such, the prices of famous tea remain very high to hinder the development of the tea market. For famous green tea, the harvest can rely only on manual picking, due to no special tea picking equipment during this time. It is also a high demand to deal with the issue as soon as possible for the development of the premium tea market. In this study, a combined pinch and cut picker was developed applicable to the famous tea picking using bionics, starting from the process of manual picking of tea leaves. The combination mechanism of pinching and cutting in the picker was also designed to analyze the process of pinching, bending, and lifting off the tea leaves by manual fingers. The amount and type of force were accurately adjusted during pinching, lifting, and picking in real time, according to the position of the stalk. A mechanical test was also conducted to determine the mechanical properties of tea shoot tips, particularly for the parameters of shoot picking. The growth parameters of tea leaves were measured to meet the agronomic requirements during mechanical picking. The action of manual picking was then simulated to design a pinch-cutting, sending, flinging, and throwing circular picking mechanism. The symmetrical shearing claw replaced the human index finger and thumb, while the rotating picking arm was used to simulate the human wrist rotation. The disc cam was used to simulate the opening and closing of manual fingers at different times. At the same time, the cam accurately and quickly controlled the work of the picking mechanism. As such, an accurate picking with the low vibration was achieved in the picking mechanism, flexible pinch-cutting integrated picking jaws and speed cooperate with each other. The prototype parameters were also obtained via theoretical calculation and virtual design. The prototype test showed that the maximum duration of a single operation of the picker was less than 0.6 s, and the success rate of picking tea stems within 3 mm in diameter was 100%. Correspondingly, the combined pinch picker fully met the need for the continuous and rapid harvesting of the tender tips of tea plantations. More importantly, the better picking quality was realized, as the feeding depth and picking height increased. Therefore, the optimal picking height, depth, and angle were determined to be 10 mm, 10 mm, and 0°, according to the tea growing environment and agronomic requirements. A comparison was made on the cross-section of the break between the manually picked shoots and the picker-picked shoots. It was found that the quality of the tea stalk cross-section was consistent with that in the manual picking. The damage to the shoot tips by the flexible clamping picking jaws was also consistent with that by the manual picking. These findings can provide a strong reference for the low loss and rapid shoots picking of tea leaves.