With the increasing demand for smart wearable clothing, the textile piezoelectric pressure sensor (T-PEPS) that can harvest mechanical energy directly has attracted significant attention. However, the current challenge of T-PEPS lies in remaining the outstanding output performance without compromising its wearing comfort. Here, a novel structural hierarchy T-PEPS based on the single-crystalline ZnO nanorods are designed. The T-PEPS is constructed with three layers mode consisting of a polyvinylidene fluoride (PVDF) membrane, the top and bottom layers of conductive rGO polyester (PET) fabrics with self-orientation ZnO nanorods. As a result, the as-fabricated T-PEPS shows low detection limit up to 8.71 Pa, high output voltage to 11.47 V and superior mechanical stability. The sensitivity of the sensor is 0.62 V·kPa^-1 in the pressure range of 0–2.25 kPa. Meanwhile, the T-PEPS is employed to detect human movements such as bending/relaxation motion of the wrist, bending/stretching motion of each finger. It is demonstrated that the T-PEPS can be up-scaled to promote the application of wearable sensor platforms and self-powered devices.