The invention relates to lead-free piezoelectric ceramic and a preparation method thereof. The problems that the production technology is complex, sintering is difficult, piezoelectric ceramic is poor in performance and requirements in actual application are not met are solved. The method includes the steps that BaCO3 powder, ZrO2 powder and TiO2 powder are contained in a ball milling tank, ethyl alcohol is added to be ground, dried, tabletted and pre-sintered to synthesize BaZr0.055Ti0.945O3; ethyl alcohol is added to Bi2O3, Na2CO3, TiO2, MnO2 and BaZr0.055Ti0.945O3 to be ball-milled and dried, an adhesive is added, compaction and plastic removal are conducted, the mixture is buried with powder to be sintered, silver paste coating and forging are conducted, and a silver electrode is formed on the surface; then the product is placed in silicon oil, the electric field is polarized, and the lead-free piezoelectric ceramic material is obtained. The Mn-codoped Bi0.5Na0.5TiO3-BaZr0.055Ti0.945O3 lead-free piezoelectric ceramic is designed and synthesized for the first time, the coercive field and leakage current of piezoelectric ceramic are effectively reduced, polarizability is improved, performance is good, the method is simple, and production and preparation are easy.