Medical endoscopy capsules play a crucial role in diagnosing gastrointestinal disorders, including gastric polyps, internal bleeding, and Crohn's disease. However, most commercial capsules remain passive, lacking onboard actuation. Vibro-impact capsules offer a promising solution by generating bidirectional motion through internal vibration and impact forces, enabling full encapsulation without external accessories. Despite their potential, integrating actuators and power sources into pill-sized capsules remains a major engineering challenge. Efforts to minimize capsule dimensions have yielded designs exceeding the standard 11 × 26 mm size, with dimensions such as 12 mm in diameter and 36 mm in length. This study presents the design, modeling, and experimental validation of a compact vibro-impact actuator employing magnetic springs in place of conventional mechanical compression springs. The proposed actuator achieves a reduced size of 11 mm in diameter and 11.6 mm in length, currently the smallest configuration reported in this domain. Compared to traditional designs, the magnetic spring solution enables a 20.5% reduction in actuator length and a 5.3% decrease in mass, thereby creating additional internal space for integrating essential components such as cameras and lighting systems. These improvements ensure compatibility with the patient’s swallowing capacity while enhancing the capsule’s functionality. The experimental results confirm the effectiveness of the proposed design, contributing to the advancement of miniaturized active capsule endoscopy systems and offering a viable solution for future clinical deployment.