With the development of space telescopes towards high-resolution and intelligent imaging, the scale and complexity of the focal plane components of large-aperture, off-axis, three-mirror anastigmatic (TMA) optical systems are increasing. Traditional focal plane focusing technology reduces the system reliability and increases the scale and complexity. This paper proposes a three-degrees-of-freedom focusing system based on a folding mirror reflector, with a piezoelectric ceramic actuator as the driver. An environment-resistant flexible support was designed for the piezoelectric ceramic actuator through an integrated optimization analysis. The fundamental frequency of the large-aspect-ratio rectangular folding mirror reflector focusing mechanism was around 121.5 Hz. After testing, it was found to meet the requirements of the space mechanics environment. This system shows promise for application to other optical systems as an open-shelf product in the future.