Vibration-based energy harvesters have been developed as power sources for wireless sensor networks. Because the vibration frequency of the environment is varied with surrounding conditions, how to design an adaptive energy harvester is a practical topic. This paper proposes a design for a piezoelectric energy harvester possessing the ability to self-adjust its resonant frequency in rotational environments. The effective length of a trapezoidal cantilever is extended by centrifugal force from a rotating wheel to vary its area moment of inertia. The analytical solution for the natural frequency of the piezoelectric energy harvester was derived from the parameter design process, which could specify a structure approaching resonance at any wheel rotating frequency. The kinetic equation and electrical damping induced by power generation were derived from a Lagrange method and a mechanical–electrical coupling model, respectively. An energy harvester with adequate parameters can generate power at a wide range of car speeds. The output power of an experimental prototype composed of piezoelectric thin films and connected to a 3.3 MΩ external resistor was approximately 70–140 μW at wheel speeds ranging from 200 to 700 RPM. These results demonstrate that the proposed piezoelectric energy harvester can be applied as a power source for the wireless tire pressure monitoring sensor.