The internal friction Q À1 and the square of vibration frequency f 2 (proportional to shear modulus G) were measured as functions of temperature on undoped Pb(Zr 0.7 Ti 0.3 )O 3 (PZT73) and Pb(Zr 0.3 Ti 0.7 )O 3 (PZT37) ceramics from 20 to 500 C. Experiments were performed on an inverted torsion pendulum at low frequencies (0.1 to 5 Hz). Two internal friction peaks were found in pure rhombohedral PZT73 ceramics. The high temperature peak P M , which appears near the Curie temperature, originates from the viscous movement of domain walls. The low temperature peak P 1 is a broadened Debye peak in nature, and it is attributed to the oscillation damping of the domain walls presumably acted by charged oxygen vacancies. For the pure tetragonal PZT37 ceramics, another peak P 2 , which appears between P 1 and P M , can be well described by the coupling model. It is thought to be caused by the relaxation of oxygen vacancy clusters near the 90 domains.