A rotational piezoelectric energy harvester has the ability to convert rotation mechanical energy into electric power. The piezoelectric harvester with cantilever based on gravity excitation has received great attention. Given that gravity excitation is greater than conventional vibration excitation, and large mass are often used in low-frequency applications, large amplitudes pose a significant threat to the life of a harvester. In this study, a rotational energy harvester with limiters is investigated to promote practical development. This study establishes a theoretical model verified by experiments. Results show that stiffness has little influence on the limiting effect. In the experimental conditions, the output after 2000 N/m is basically the same. The peak value of the output voltage is linearly proportional to the space. Given that an impact excitation is generated in the collision, the limiter widens the frequency band of the output in the upsweep.