Two types of porous lead zirconate titanate (PZT) with different pore morphologies and porosities were fabricated by freeze-casting and burnt-out polymer sphere techniques, respectively. The effects of porosity and pore morphology on the sensing application of porous PZT ceramics were investigated. The result shows that the decreasing rate for piezoelectric charge coefficient d33 is slower than that of relative permittivity εr for porous PZT ceramics, leading to a better piezoelectric performance for the porous PZT rather than that of the dense ceramic. Moreover, d33 of porous ceramics with random spherical pores decreases, compared to that of the porous ceramics with aligned pores. Therefore, the porous PZT ceramic with aligned pores has a higher output voltage. The maximum output voltage reaches up to 84 V, which is generated by the 55.9% porous PZT with aligned lamellar pores under 8 N external force. This work is beneficial for understanding the effect of the pore characteristic on the sensing properties of piezoelectric ceramics and provides a new idea for the preparation of sensors with high piezoelectric coefficient.