A piezoelectric nanogenerator based on poly(vinylidene fluoride trifluoroethylene) [P(VDF-TrFE)] nanofibers with an Au interdigital electrode (IDT)/P(VDF-TrFE) nanofiber film/well-ordered cylindrical cavity structure was prepared by combining Au IDTs with a rotary collector to obtain highly aligned P(VDF-TrFE) nanofiber arrays. The Au IDTs work not only as parallel electrodes to collect P(VDF-TrFE) nanofibers during electrospinning but also as charge-collecting electrodes in the nanogenerator. The well-ordered cylindrical cavities improve output performance by enhancing the deformation of P(VDF-TrFE) nanofiber films when subjected to external force. The nanogenerator performs well; as an example of application, we demonstrate energy harvesting from human walking, with a peak output voltage of 5 V and a peak short-circuit current of 1.2 μA. Such a device could have practical applications in wearable, self-powered devices.