In this investigation, we extend our previous works to improve piezoelectric properties of Pb(Zr,Ti)O3 ceramics. Modified lead zirconate titanate (PZT) piezoceramics with a composition Zr/Ti=53/47 containing a trace of mixing dopants were prepared by conventional ceramic technology sintering powder compacts. Replacement of (Zr, Ti)+4 by Nb+5, Pb+2 by Sb+3 and Mn+4 in PZT perovskite type solid solutions was accomplished by the creation of cation and anion vacancies. Modified ceramics were explored as a function of firing temperature to acquire exceedingly good piezoelectric characterizations. From the analysis results, calcined at 850°C for 2 h, and then sintered at 1280°C for 2 h, PZT piezoceramic showed the larger dielectric constant er 2013, mechanical quality factor Qm 120 and maximum electromechanical coupling factor kp 0.67. Besides, the bulk ceramic grains distribution were found to be uniform. Furthermore, the sample was found to possess piezoelectric properties, the resonance frequency being about 200 KHz suitable for acoustic sensor.