The piezoelectric coefficients (d33, −d31, d15, g33, −g31, g15) of soft and hard lead zirconate titanate ceramics were measured by the quasi-static and resonance methods, at temperatures from 20 to 300 °C. The results showed that the piezoelectric coefficients d33, −d31 and d15 obtained by these two methods increased with increasing temperature for both hard and soft PZT ceramics, while the piezoelectric coefficients g33, −g31 and g15 decreased with increasing temperature for both hard and soft PZT ceramics. In this paper, the observed results were also discussed in terms of intrinsic and extrinsic contributions to piezoelectric response.