In order to study the non-contact high-precision measurement of ice thickness on aircraft surface， the three-dimensional finite element simulation model composed of piezoelectric sensor， aluminum plate and ice layer is established. The influence of ice thickness on the resonant frequency and impedance of the system is studied to obtain the design parameters of piezoelectric sensor. In this paper， the ground cold environment experimental platform is built， and the impedance analyzer is used to measure the resonant frequency of piezoelectric sensor under different icing temperature and icing thickness. It is found that the icing temperature is inversely proportional to the resonant frequency of the system. The resonant frequency of the system is inversely proportional to the icing temperature and the icing thickness of the substrate surface， while the electrical impedance of the system is directly proportional to the icing thickness. The experimental results show that the resonant piezoelectric sensor can effectively measure the 0.2—5 mm thick ice layer on the substrate surface.