In the present study, we propose an innovative autofocusing (AF) voice coil motor (VCM) actuator to replace the traditional AF VCM actuators with springs for smart phone camera modules. In the proposed electromagnetic structure, the magnetic pre-compression force between the two guide rods and permanent magnet is used to replace the restoring resilience force of the two springs in the traditional AF VCM actuators. The proposed AF VCM actuator is characterized numerically using the simulation analysis of commercial software Infolytica MagNet and then verified experimentally using a laboratory-built prototype. The experimental results presented in this study show compared to traditional AF VCM actuator, the proposed AF VCM actuator has excellent AF performance to be able to replace the traditional AF VCM actuators. As a result, the proposed device provides a promising solution for smart phone camera modules or industrial applications.