Lead-based piezoelectric ceramics are widely used in piezoelectric devices due to their excellent piezoelectric properties. Piezoelectric actuators require piezoelectric ceramics with high piezoelectric properties and a high precision displacement as well as a small strain hysteresis under applied electric fields, which can be obtained by donoracceptor co-doping. In this work, (1-x)Pb0.95Sr0.05(Zr53Ti47)O3-xBiAlO3 + 0.2%MnO2 ceramics were prepared by a traditional solid-state reaction method (doping amount is mass percentage). The microstructure and piezoelectric property of the prepared ceramics were investigated. The results demonstrated that the defect dipole can hinder the domain rotation in a few additions of BiAlO3, resulting in a relatively low piezoelectric property and low strain hysteresis under electric fields. With more additive BiAlO3, the piezoelectric properties and strain hysteresis of the ceramics are improved because the pinning effect of defect dipoles become weak. The optimal performance was obtained in the x=1.75% composition, where the piezoelectric coefficient (d33), electromechanical coupling coefficient (kp), mechanical quality factor (Qm) and Curie temperature (TC) are 504 pC/N, 0.71, 281 and 312 ℃, respectively. This composition show a relative high strain and low strain hysteresis (only 15%) under the electric field of 10 kV/cm. Due to the high piezoelectric performance and low electric field strain hysteresis along with the good temperature stability, the (1x)Pb0.95Sr0.05(Zr53Ti47)O3-xBiAlO3 + 0.2%MnO2 ceramics will be a kind of piezoelectric ceramic with practical application potentials for the piezoelectric actuator.