Nanochannel-based osmotic energy conversion can directly convert salinity gradient energy between solutions with different ion concentrations into electric energy. In the energy conversion process, the high-concentration side of the nanochannel membrane has high ion permeability but low ion selectivity, whereas the low-concentration side exhibits opposite properties, which is the inherent limitation of osmotic power. However, the relationship between ion selectivity and permeability is unclear, which hinders the improvement of the output power density. This paper reports a segmental-porosity regulation method to break through the inherent constraints of the ion selectivity–permeability trade-off. The nanochannel membrane was divided into three regions along the ion transport direction as upstream, midstream, and downstream. The porosities of these three regions were separately regulated to optimize the structures for ion selectivity–permeability matching. When a high porosity was adopted for the downstream region and a small and mediate porosity combination was used for the upstream and midstream regions, the highest output power density was achieved, which was 78.44% higher than that of a straight nanochannel with homogeneous porosity under a 100-fold concentration ratio. The outstanding osmotic power generation performance of the optimized segmental structure was attributed to the alleviated ion concentration polarization and unexpectedly improved ion selectivity. Finally, the process and underlying mechanisms of segmental-porosity regulation are also proposed. This paper reports a novel methodology for designing the structure and porosity of nanochannel membranes to enhance osmotic power generation.