Energy harvesting, which refers to the generation of electricity from ambient sources using functional materials, has been extensively researched. In this paper, a cylindrical energy harvester that combines anti-vibration rubber and polyvinylidene fluoride piezoelectric film is proposed, and its characteristic evaluation method based on a theoretical model is also proposed. A forced vibration experiment using a servo hydraulic dynamic test system is conducted to determine the power generation characteristics. To evaluate the power generation performance, a characteristic evaluation model is constructed using the transfer matrix method for the governing equation of the longitudinal vibration of a bar. The results are compared with experimental results to verify the accuracy of the characteristic evaluation method.