Recently, the nanogenerators which can convert the mechanical energy into electricity by using piezoelectric one-dimensional nanomaterials have exhibited great potential in microscale power supply and sensor systems. In this paper, we provided a comprehensive review of the research progress in the last eight years concerning the piezoelectric nanogenerators with different structures. The fundamental piezoelectric theory and typical piezoelectric materials are firstly reviewed. After that, the working mechanism, modeling, and structure design of piezoelectric nanogenerators were discussed. Then the recent progress of nanogenerators was reviewed in the structure point of views. Finally, we also discussed the potential application and future development of the piezoelectric nanogenerators.