Provided is a miniature piezoelectric type energy collector based on low-frequency ambient vibration driving. The miniature piezoelectric type energy collector based on low-frequency ambient vibration driving comprises a base, a cantilever beam, a mass block and an energy storage circuit, wherein the cantilever beam comprises a plurality of straight arm beams which are parallel to one another, every two adjacent straight arm beams are connected through a connecting piece so that the whole cantilever beam with a head end and a tail end can be formed, the head end is fixed to the base, the mass block is installed at the tail end, only one connecting piece is arranged between every two connected straight arm beams, and all the straight arm beams and the connecting pieces are arranged on the same plane; the energy storage circuit comprises a first bridge rectifier diode D1, a second bridge rectifier diode D2, a third bridge rectifier diode D3, a fourth bridge rectifier diode D4, a storage electrolytic capacitor C with the filtering function, and a load resistor RL. The miniature piezoelectric type energy collector based on low-frequency ambient vibration driving has the advantages that the length of the cantilever beam is increased in an equivalent mode, miniaturization of a device is achieved, the natural vibration frequency of the device is reduced, and output power is improved.