In this paper, a curve-shaped based doubly clamped piezoelectric energy harvester (CD-PEH) is explored for improving the energy harvesting performance. The harvester consists of a composed beam constructed with two arc-shaped structures and a flat beam, as well as two proof masses. A method based on chained beam constraint model theory (CBCM) is first applied to build the nonlinear restoring force model of the CD-PEH, the developed analytical model is validated by the finite element analysis (FEA). Then the electromechanically coupled model for the CD-PEH is built to investigate the effect of excitation amplitudes, geometric parameters and load resistance on the output characteristics. Due to the geometric nonlinearity caused by the arc-shaped configuration, the CD-PEH orderly exhibits quasi-linear, softening nonlinear and mixed hardening & softening nonlinearity behavior with the increasing of excitation level, which could effectively extend the frequency bandwidth of the system. For the excitation of A = 8 m/s2, the effective working bandwidth of the CD-PEH is increased by 633% compared with the effective bandwidth in the case of A = 2 m/s2. Moreover, comparison experiments demonstrate that the output voltage and the effective bandwidth are increased by 225 and 450%, respectively, compared with the typical doubly-clamped piezoelectric energy harvester (T-PEH) under the same excitation amplitude. Overall, this study provides a new way and theoretical framework for the design of high-efficiency doubly clamped piezoelectric energy harvester.