The “Embroidery Triboelectric Nanogenerator” (E-TENG) is a wearable device that extracts energy from human motion by making use of the triboelectric phenomena, in addition to conductive fabric along with embroidery threads. One of the greatest ways to transform ambient vibrational energy from the human body is to use a wearable triboelectric energy harvester. In this study, different E-TENGs were developed using conductive fabric as an electrode and two different triboelectric yarns, 100% Polyester (electron donor) and Nylon 6,6 (electron receiver). To investigate the electrical outputs and energy-collecting potential of the ETENG, different stitch length and line spacing of embroidery TENG were investigated by testing samples in a specially manufactured tapping and sliding devices. The optimized wearable embroidery energy harvester effectively captured 72 μJ (12 V) of human motion energy in a 1 μF capacitor in 120 s and 307.5 μJ (24.8 V) of energy in a 1 μF capacitor by 1.5 Hz sliding motion in 300 s from an ETFS3.1 sample. A maximum of 4.5 μJ (3 V) was collected in a 1 μF capacitor from ETFS2.3 using a tapping machine for 520 s at a 2 Hz tapping motion and a 50 mm separation distance. The effects of the stitch length and line spacing in the embroidered structure on the electrical output performance of the embroidery energy-harvesting TENG were investigated.