This paper proposes a novel energy harvesting floor structure using piezoelectric elements for converting energy from human steps into electricity. The piezoelectric energy harvesting structure was constructed by a force amplification mechanism and a double-layer squeezing structure in which piezoelectric beams were deployed. The generated electrical voltage and output power were investigated in practical conditions under different strokes and step frequencies. The maximum peak-to-peak voltage was found to be 51.2 V at a stroke of 5 mm and a step frequency of 1.81 Hz. In addition, the corresponding output power for a single piezoelectric beam was tested to be 134.2 μW, demonstrating the potential of harvesting energy from the pedestrians for powering low-power electronic devices.