<p indent="0mm">Relaxor ferroelectric single crystals, exhibiting excellent dielectric, piezoelectric, electro-optic, and pyroelectric properties, are important functional dielectric materials in electronic technology. Since the 1990s, relaxor ferroelectric crystals have attracted considerable attention in the ferroelectric and piezoelectric research fields and improved the performance of numerous piezoelectric devices, especially medical ultrasonic imaging transducers. In this paper, we briefly introduce the history of relaxor ferroelectric crystals and then focus on the research progress of our group in recent years, as listed below. (1) To elucidate the contribution of polar nanoregions (PNRs)<italic> </italic>to piezoelectricity, we performed closely integrated experimental and computational studies on relaxor ferroelectric crystals. In this work, we obtained key experimental evidence (low-temperature dielectric relaxation) for the contribution of PNRs to the piezoelectric activity in relaxor-PbTiO<sub>3</sub> (PT) crystals via cryogenic measurements, and more importantly, for the first time, we quantified the contribution of PNRs accounting for 50%–80% of the room-temperature dielectric and piezoelectric properties. Based on the phase-field simulations, we proposed a mesoscale mechanism wherein the PNRs are aligned in a ferroelectric matrix facilitating the polarization rotation, which successfully explains the contribution of PNRs to dielectric/piezoelectric properties. This work opens up a new material design paradigm that introduces local heterogeneities to achieve enhanced macroscopic responses. (2) Based on the origin of high piezoelectric activity in relaxor ferroelectric crystals, we proposed a theoretical approach, i.e., judiciously introducing local structure heterogeneity, to engineer the interfacial energies, thereby increasing the piezoelectricity of ferroelectric materials. According to this method, we designed and fabricated a series of rare earth element-doped relaxor ferroelectric crystals with piezoelectric coefficients <italic>d</italic><sub>33</sub> in the 3400–4100 pC/N, double the values of the undoped counterparts. The newly developed piezoelectric materials offer potential benefits for piezoelectric devices, especially high-frequency medical transducers, where ultrahigh clamped dielectric constant (~3000) improves the electrical impedance matching of the transducers, thereby increasing the sensitivity and decreasing the insertion loss in the ultracompact transducers. (3) Using phase-field simulations and experimental measurements, we transformed the originally opaque [001]-poled rhombohedral PMN-PT crystals into a transparent one by using an AC electric field to engineer the domain structure. These crystals possess ultrahigh piezoelectric coefficient <italic>d</italic><sub>33</sub> (>2100 pC/N), outstanding electromechanical coupling factor <italic>k</italic><sub>33</sub> (~94%), and large electro-optical coefficient <italic>γ</italic><sub>33</sub><sc>(~220 pm/V),</sc> far beyond the performance of the state-of-the-art transparent ferroelectric crystal LiNbO<sub>3</sub>, showing great potential in various hybrid device applications, including photoacoustic medical transducers and self-energy-harvesting touchscreens. Furthermore, we discovered that the larger domain sizes lead to higher piezoelectricity in [001]-poled rhombohedral perovskite ferroelectric crystals, opposing the long-standing belief that a smaller domain size always results in higher piezoelectricity in ferroelectric crystals. This observation may benefit the future design of piezoelectric materials. Finally, the applications of our newly designed relaxor ferroelectric crystals in electromechanical and electro-optical devices are introduced, and the future perspectives of relaxor ferroelectric crystals are discussed.