Temperature-insensitive high piezoelectric strain and low strain hysteresis (Hs) with high Curie temperature (TC) are desirable for piezoelectric actuator applications. The excellent room-temperature piezoelectric performance (d33 = 309 pC/N and d33∗ = 458 pm/V) with very high TC = 482 °C have achieved in 0.67Bi1.03FeO3-0.33Ba1-xLaxTiO3 ceramics. Furthermore, a small variation in the piezoelectric strain (ΔST = 13%) in the temperature range of 25 °C–125 °C with low strain hysteresis (Hs = 12%) and a large average electrostrictive coefficient (Q33 = 0.03 m2/C4) leads to a high figure of merit for piezoelectric actuators. The structural origin of the high piezoelectric performance is related to the crystal structure morphotropic phase boundary and maximum crystal structure lattice distortion (90° ̶ αR = 0.12° and cT/aT = 1.008). While the physical origin is mainly attributed to the soft ferroelectric effect by La3+ as donor doping on Ba2+-site that significantly reduces the coercive field and makes it easy to switch ferroelectric polarization under the applied electric field. We believe that this breakthrough in lead-free ceramics opens a new development window for temperature-insensitive piezoelectric properties for the high-temperature commercial applications.