Developing robust and cost-effective electrocatalysts to boost hydrogen evolution reactions (HERs) and oxygen evolution reactions (OERs) is crucially important to electrocatalytic water splitting. Herein, bifunctional electrocatalysts, by coupling Co nanoparticles and N-doped carbon nanotubes/graphitic nanosheets (Co@NCNTs/NG), were successfully synthesized via facile high-temperature pyrolysis and evaluated for water splitting. The morphology and particle size of products were influenced by the precursor type of the cobalt source (cobalt oxide or cobalt nitrate). The pyrolysis product prepared using cobalt oxide as a cobalt source (Co@NCNTs/NG-1) exhibited the smaller particle size and higher specific surface area than that of the pyrolysis products prepared using cobalt nitrate as a cobalt source (Co@NCNTs/NG-2). Notably, Co@NCNTs/NG-1 displayed much lower potential -0.222 V vs. RHE for HER and 1.547 V vs. RHE for OER at the benchmark current density of 10 mA cm-2 than that of Co@NCNTs/NG-2, which indicates the higher bifunctional catalytic activities of Co@NCNTs/NG-1. The water-splitting device using Co@NCNTs/NG-1 as both an anode and cathode demonstrated a potential of 1.92 V to attain 10 mA cm-2 with outstanding stability for 100 h. This work provides a facile pyrolysis strategy to explore highly efficient and stable bifunctional electrocatalysts for water splitting.