Harvesting energy from rotational motion is an efficient and widely used technology that provides power support for various electronic devices and systems by converting mechanical kinetic energy into electrical energy. This energy harvesting method shows great potential and advantages in industrial automation, transportation, wind power generation, and smart homes. This study proposes a piezoelectric-electromagnetic hybrid energy harvester (HEH) for rotational motion driven by magnetic repulsion. HEH comprises of two parts: a piezoelectric energy harvester (PEH) and an electromagnetic harvester (EMH). HEH utilizes the magnetic drive reciprocating motion to enhance the energy collection efficiency of PEH and EMH. Additionally, by adding the magnetic effect to the ends of bimorph piezoelectric sheets, the spectrum of energy harvesting is expanded. Its parameters are analyzed using theoretical analysis and simulation, and an experimental testbed is established to explore the influence of HEH output performance. The results indicate that the output power reaches its maximum when there are 2 circular magnets on the rotor, the gap distance of magnets is 15mm, and 2 mass blocks at the end of the bimorph piezoelectric sheet. The PEH and EMH outputs are 173.36V and 4.81V, respectively. The maximum output power of HEH is 53.45mW. The power density can reach 6.818mW/cm3. Compared with PEH and EMH, the output performance is improved by 46.94% and 174.95%, respectively. When the rotation speed is 500r/min, HEH can effortlessly light up 80 LEDs. The experimental results all demonstrate the potential of HEH to power low-power sensors.