ZrO2-doped (Bi0.5Na0.5)0.91Pr0.02Ba0.07TiO3 lead-free ferroelectric ceramics were synthesized by solid-phase sintering method. The influence of Zr substitution on the phase structure, microstructure, energy storage behavior and dielectric behavior of (Bi0.5Na0.5)0.91Pr0.02Ba0.07TiO3 were systematically investigated. All samples formed a single perovskite phase with fine and uniform crystal grains. The doping of Zr effectively increased the breakdown field strength. When the doping amount is 0.03 mol, the maximum effective energy storage density of the ceramic reaches 1.38 J/cm3 at a field strength of 138 kV/cm, and the energy storage efficiency reaches 52.44%. At the same time, it exhibits stable high-temperature ferroelectric characteristics. A large dielectric constant of 1150 is obtained and remains stable.