To reduce the sintering temperature of lead zirconate titanate (PZT) piezoelectric ceramics, PZT-based piezoelectric ceramics were fabricated via a solid-state reaction with Li₂CO₃ and Bi₂O₃ as composite sintering aids. The effects of the doping amount of Li₂CO₃-Bi₂O₃ and the sintering temperature on the phase structure, microstructure, and electrical properties of PZT piezoelectric ceramics were comprehensively investigated. When the doping amount of Li₂CO₃-Bi₂O₃ is 1.3 wt%, the sintering temperature of PZT piezoelectric ceramics can be decreased from 1 250 ℃ to 900-950 ℃, which is a wide sintering temperature range, and the ceramics exhibit outstanding electrical properties. The piezoelectric strain constant d₃₃ can reach 538 pC/N when the sintering temperature is 900 ℃, and the piezoelectric voltage constant g₃₃ reaches a maximum of 43.27 mVm/N when the sintering temperature is 950 ℃. Simultaneously, low-temperature co-firing of the ceramics and electrodes is accomplished, and the d₃₃ of the ceramic chip after co-firing reaches 530 pC/N.