Magnetostrictive cantilever beams are reliable and straightforward energy harvesting devices for powering wireless sensors using environmental vibrations. However, despite their widespread use, a comprehensive analytical model encompassing both mechanical and electromagnetic main features is still lacking. The mechanical-to-magnetic coupling of a magnetostrictive beam, with its various working conditions and nonlinear characteristics, can be effectively approximated by the Euler–Bernoulli (E–B) equation with damping (viscous and Kelvin–Voigt) coupled with a non-linear magnetostrictive model. In this study, we propose a practical and convenient model for a general concept device designed to convert vibrations into electrical energy. The model is thoroughly compared with experimental measurements aimed to prove the goodness of the approach rather than energy harvesting highest performance.