Flexoelectricity is a novel kind of electromechanical coupling phenomenon that is prevalent in all solid dielectrics and usually of vital importance in nanostructures and soft materials. Although the fundamental theory of flexoelectric solids and related beam or plate theories were extensively studied in recent years, the coupling effect of flexoelectricity and piezoelectricity in piezoelectric nanostructures has not been completely clarified yet. In the present work, a geometrically nonlinear piezoelectric plate model is established with a focus on the coupling effect. The constitutive equations for piezoelectric plates are derived under both the electrically short-circuit and open-circuit conditions. It is found that due to the coupling between flexoelectricity and piezoelectricity, stretching-bending coupling stiffness arises in the homogeneous plate and its specific value relies on the applied electrical boundary conditions. The effects of the flexoelectric-piezoelectric coupling on the effective mechanical behavior and the electromechanical behavior of nanobeams and nanoplates are also discussed. The developed model and presented results are expected to benefit the design and analysis of piezoelectric and flexoelectric devices and systems.