We study theoretically the propagation of thickness-twist waves in an unbounded piezoelectric ceramic plate with unattached electrodes and viscous fluids between the plate surfaces and the electrodes. Based on the theories of piezoelectricity and viscous fluids, an equation that determines the dispersion relations of the waves is obtained, showing the dependence of the phase velocity on material and geometric parameters. Due to the viscosity of the fluid, the dispersion relations are complex in general, representing damped waves with attenuation. The dispersion relations obtained can reduce to the results of a few special cases with known results. The results of the present paper are useful for developing and designing fluid sensors for measuring fluid viscosity or density.