This paper reports a noninvasive measurement of temperature for simulated tissue based on an AlN piezoelectric micromachined ultrasonic transducer (PMUT) array. Polydimethylsiloxane (PDMS) and a built-in heating plate are used to simulate the thermal therapy of human tissue. Based on time-of-flight (ToF) from the simulated tissue surface to the heating plate surface and corresponding temperature data, the piecewise linear fitting method is used to fit the ToF-temperature curve, and its sensitivity is 41.5 ns/℃ (below 50 ℃) and 30.5 ns/℃ (from 50 ℃ to 65 ℃). The average error of real-time temperature measurements is 0.58 ℃ for temperatures below 65 ℃. The proposed method can provide a good solution for temperature detection during thermal therapy.