Hi, I'd like to help you with your question.
It is very common to have disturbing bodily sensations when you have anxiety. It is part of the disorder to focus on your body and be anxious about what you feel. That is not to say there isn't something wrong, it's just a very common part of anxiety and should be considered when you feel focused on a symptom.
You mentioned you saw your doctor for the restlessness problem. If you do not feel reassured by his diagnosis, see another doctor for a second opinion. There is nothing wrong with being sure.
Akathisia is basically restless leg syndrome from my understanding. It is a physical disorder that causes a person to feel the need to move their legs. It occurs mostly in middle aged to older adults. It can be hereditary.
Inner restlessness is part of the akathisia diagnosis. It is the sensation of needing to move around. Regular restlessness is most likely more of a feeling rather than a sensation.
I am not a medical doctor so I have a general idea of these symptoms. Your doctor can help you with a more complete description. However, I do understand how anxiety can cause these types of symptoms and I can help you with that as a source of your problem. If your doctor clears you of a physical problem, anxiety is most likely the cause.
Anxiety can give you the sensation of needing to move around and restlessness. It can also cause you to have bodily sensations that bother you to the point of being distracting. That is why I recommend a second opinion to rule out a physical cause so you can focus on the anxiety as the origin of the sensations.
You did not mention seeing a therapist. That would be a great start in helping you target this symptom and reduce or eliminate it. Talk with your doctor about a referral. Or you can search on line at http://therapists.psychologytoday.com/rms/. Even if you find that this symptom is part of a physical problem, therapy can help you cope with the resulting distress and anxiety.
There are several resources to help you work on this problem at home as well. Here are some excellent books to get you started:
The Anxiety & Phobia Workbook (New Harbinger Self-Help Workbook) by Edmund J. Bourne
The Cognitive Behavioral Workbook for Anxiety: A Step-by-Step Program by William J. Knaus
From Panic to Power: Proven Techniques to Calm Your Anxieties, Conquer Your Fears, and Put You in Control of Your Life by Lucinda Bassett
They Can't Find Anything Wrong!: 7 Keys to Understanding, Treating, and Healing Stress Illness by David D. Clarke
You can find these books on Amazon.com or your local library may have them for you.
Keep in mind, if the doctors do find a physical problem they can treat it. However, if they do not, you have the opportunity to rid yourself of these and other anxiety symptoms through treatment and self help. Anxiety is highly curable. With a bit of determination, you can heal yourself from anxiety and live a fuller life.
I hope this has helped you,