Piezoelectric transducers are widely used for generating acoustic energy, and choosing the right radiating element is crucial for efficient energy conversion. In recent decades, numerous studies have been conducted to characterize ceramics based on their elastic, dielectric, and electromechanical properties, which have improved our understanding of their vibrational behavior and aided in the manufacturing of piezoelectric transducers for ultrasonic applications. However, most of these studies have focused on the characterization of ceramics and transducers using electrical impedance to obtain resonance and anti-resonance frequencies. Few studies have explored other important quantities such as acoustic sensitivity using the direct comparison method. In this work, we present a comprehensive study that covers the design, manufacturing, and experimental validation of a small-sized, easy-to-assemble piezoelectric acoustic sensor for low-frequency applications, using a soft ceramic PIC255 from PI Ceramic with a diameter of 10 mm and a thickness of 5 mm. We present two methods, analytical and numerical, for sensor design, followed by experimental validation, allowing for a direct comparison of measurements with simulated results. This work provides a useful evaluation and characterization tool for future applications of ultrasonic measurement systems.