In piezoelectric device applications, it is important to improve a system efficiency because of the low generated power. In this paper, an optimal driving method is proposed to improve a system efficiency for a piezoelectric energy harvesting system. The proposed method considers disappear energy in input capacitors and the converter efficiency according to the input voltage magnitude to minimize energy losses. Experimental results based on various energy generation cases verify that the proposed method significantly improves the system efficiency; the efficiency is approximately 9.97% higher than that of the conventional method.