This work proposes a one-stage bidirectional rectifier with a pre-charge voltage (VPC) based perturb-and-observe (P&O) maximum power point tracking (MPPT) algorithm for triboelectric energy harvesting. The proposed VPC-based MPPT dynamically locates the true MPP while accounting for circuit non-idealities, using a simplified implementation compared to conventional P&O methods. Consequently, it achieves 93% MPPT efficiency and 8.86× energy enhancement compared to the full-bridge rectifier.