Piezoelectric vibration energy harvesting technologies have attracted a lot of attention in recent decades, and the harvesters have been applied successfully in various fields, such as buildings, biomechanical and human motions. One important challenge is that the narrow frequency bandwidth of linear energy harvesting is inadequate to adapt the ambient vibrations, which are often random and broadband. Therefore, researchers have concentrated on developing efficient energy harvesters to realize broadband energy harvesting and improve energy-harvesting efficiency. Particularly, among these approaches, different types of energy harvesters adopting magnetic force have been designed with nonlinear characteristics for effective energy harvesting. This paper aims to review the main piezoelectric vibration energy harvesting technologies with magnetic coupling, and determine the potential benefits of magnetic force on energy-harvesting techniques. They are classified into five categories according to their different structural characteristics: monostable, bistable, multistable, magnetic plucking, and hybrid piezoelectric–electromagnetic energy harvesters. The operating principles and representative designs of each type are provided. Finally, a summary of practical applications is also shown. This review contributes to the widespread understanding of the role of magnetic force on piezoelectric vibration energy harvesting. It also provides a meaningful perspective on designing piezoelectric harvesters for improving energy-harvesting efficiency.