The gravitational form factor of the pion is evaluated in two chiral quark models and confronted with the recent full-QCD lattice data. We find good agreement for the case of the spectral quark model, which builds in the vector-meson dominance for the charge form factor. We derive a simple relation between the gravitational and electromagnetic form factors, holding in the considered quark models in the chiral limit. The relation implies that the gravitational mean squared radius is half the electromagnetic one. We also analyze higher-order quark generalized form factors of the pion, related to higher moments in the symmetric Bjorken X variable of the generalized parton distribution functions, and discuss their perturbative QCD evolution, which is needed to relate the quark-model predictions to the lattice data. The values of the higher-order quark form factors at t=0, computed on the lattice, also agree with our quark-model results within the statistical and method uncertainties.