Performing real-time monitoring for human vital signs during sleep at home is of vital importance to achieve timely detection and rescue. However, the existing smart equipment for monitoring human vital signs suffers the drawbacks of high complexity, high cost, and intrusiveness, or low accuracy. Thus, it is of great need to develop a simplified, nonintrusive, comfortable and low cost real-time monitoring system during sleep. In this study, a novel intelligent pillow was developed based on a low-cost piezoelectric ceramic sensor. It was manufactured by locating a smart system (consisting of a sensing unit i.e. a piezoelectric ceramic sensor, a data processing unit and a GPRS communication module) in the cavity of the pillow made of shape memory foam. The sampling frequency of the intelligent pillow was set at 1000 Hz to capture the signals more accurately, and vital signs including heart rate, respiratory rate and body movement were derived through series of well established algorithms, which were sent to the user’s app. Validation experimental results demonstrate that high heart-rate detection accuracy (i.e. 99.18%) was achieved in using the intelligent pillow. Besides, human tests were conducted by detecting vital signs of six elder participants at their home, and results showed that the detected vital signs may well predicate their health conditions. In addition, no contact discomfort was reported by the participants. With further studies in terms of validity of the intelligent pillow and large-scale human trials, the proposed intelligent pillow was expected to play an important role in daily sleep monitoring.