Vibration based piezoelectric energy harvesting has been receiving more and more attention for supplying usable electrical energy to low-power electronic devices. This type of energy can produce the desired voltage to power any low electronic device or wireless sensor. But most of them provide lower voltage and insufficient power. In this paper, the nonlinear magnetic field is introduced to broaden the effective resonant bandwidth for overcoming this issue. The dynamic linear and nonlinear model of magnetic coupling piezoelectric vibration energy harvester is established based on the Hamilton principle, Euler-Bernoulli beam theory, piezoelectric theory, and Kirchhoff's law and law of mechanics. Numerical solutions of nonlinear energy harvesting systems are studied by using the Runge-Kutta method. The bifurcation diagram, Poincare map, power spectrum, and phase trajectory of voltage output are investigated with different excitation amplitudes and frequencies. Simulation of linear and nonlinear model were illustrated at given excitation levels. Simulation results show the harvesting performance can be improved by proper external magnetic coupling and potential energy function. The theoretical harmonic balance analysis results verify the numerical solution and influence the mechanism of excitation levels and interface resistances. Experimental verification is carried out to measure the nonlinear restoring force and examine the performance of nonlinear bistable and monostable energy harvesters. The experiment results show the nonlinear bistable and monostable energy harvesters can provide larger voltage and more power.