To make the active and semi-active vibration control system in civil engineering get rid of external power supply, a new piezoelectric friction damper with self-power and sensing is designed in this paper and a semi-active control system based on this damper is presented. This system includes three key parts: a piezoelectric friction damper, a power generator based on the piezoelectric stack electro-mechanical energy conversion and a control circuit. It makes full use of the direct and converse piezoelectric effect. At the same time, it also overcomes the deficiency that the frictional force as damping can not be accurately desired in semi-active vibration control system. On the basis of it, the control equation of PFD is formulated. Numerical simulations for seismic protection of story isolation equipped with this system excited by a historical earthquake are conducted by MATLAB. Skyhook control is used to command a piezoelectric friction damper in the semi-active control. It is noticed that only one accelerometer is needed to monitor the response to realize the skyhook control, which greatly simplifies the classical semi-active vibration control system.