Capturing vibration energy of track structures using piezoelectric energy harvesters has attracted increasing attention for powering wireless sensor networks along railway line. To better use the vertical space below steel rail, a kind of piezoelectric tube stack energy harvesters is proposed in this paper, which can be placed at the bottom of the steel rail to harvest the vibration energy of the vertical displacement induced by the moving train. The harvester consists of a displacement transmission rod, a compression spring, a force transmission metal tube, a piezoelectric tube stack, a whole metal shell, screw bolts, and a wire hole. The advantage of this design is to fully combine the heights of the compression spring, the force transmission metal tube and the piezoelectric tube stack, which helps reduce the vertical height of the device and enables its wide application to a variety of tracks, including, ballast track, ballastless track, and steel-spring floating slab track. Energy harvesting performance of the developed piezoelectric tube stack energy harvester is investigated experimentally, which is consistent with the theoretical results of the simplified model of such a harvester reported. Effects of displacement amplitude, displacement frequency, spring stiffness, resistance, and key parameters of piezoelectric tube stack on the energy harvesting performance of the harvester are also discussed. The present study provides a new design concept for developing piezoelectric energy harvesters used in railway systems with the smaller vertical space below steel rail.