Synchronized switch damping (SSD) techniques have been developed for structural vibration suppression in recent years. In SSD control, a self-sensing approach can invert the voltage on piezoelectric materials without sensors or real-time controllers. However, this approach has been challenged since the voltage generated by the vibration of controlled mode becomes minor compared with noises as the increase of damping performance. Furthermore, the voltage decay caused by the current leakage is dominant when the host structure vibrates at a low frequency. This paper proposes a self-sensing approach based on the zero-crossing detection (ZCD) technique with voltage decay compensation. The switching delay, voltage decay, and higher-order harmonic vibration are considered in the electromechanical model of the SSD system. Accordingly, a band-limited proportional-differential (PD) circuit is implemented to offset the voltage decay and generate zero-crossings at displacement extrema simultaneously. Experiments show that the proposed method is still effective when the voltage decay in the SSD control is dominant.