In recent years, structural health monitoring technology based on piezoelectric sensor and lamb wave has been widely studied and applied to aircraft due to its advantages of sensitivity of small damage and wide monitoring range. Due to the influence of material properties and other complex factors, the signal acquired by piezoelectric sensor is not completely consistent with the original signal, which requires subsequent compensation processing. In this paper, the theoretical formula of dynamic characteristics is deduced from the working mechanism of circular piezoelectric sensor, and the mathematical model of sensor is established. The dynamic characteristic curve of the sensor model obtained by mathematical modeling is simulated by MATLAB, and is compared with the calibration curve obtained by the experiment so that to verify the validity of the model. In order to improve the dynamic characteristics of piezoelectric sensors, the dynamic compensation filter is designed by zero pole arrangement method. The result shows that the dynamic performance of the compensated piezoelectric sensor is greatly improved compared to original sensor, and the response speed is greatly improved. Also, the working frequency band is extended from 315. 9 kHz to 609. 1 kHz. It can be shown that the compensated piezoelectric sensor can be applied to engineering practice.