This paper presents a piezoelectric-electromagnetic hybrid harvester for wave energy harvesting inspired by a scotch yoke structure for obtaining energy from irregular and low-frequency waves. Through simplification of the energy harvester model, the kinematic equations of the scotch yoke are established. One of the advantages of the harvester is that the wave energy can be harvested by an up-conversion mechanism, The piezoelectric transducer (PZT) and electromagnetic generator (EMG) transform the wave excitation into electricity, and by utilizing the frequency up-conversion mechanism, the PZTs’ harvesting efficiency is increased, the influencing factors of the output power of the harvester are explored by simulation and experimental studies, The results of the experiment demonstrate that this harvester could generate an ultimate output power of 286.36 mW at ultra-low frequency (1.4 Hz) operating frequency. This study offers a practical solution for harvesting low-frequency and disordered wave energy and makes significant progress in harvesting low-frequency and irregular wave energy.