Triboelectric nanogenerators (TENGs) are devices that efficiently transform mechanical energy into electrical energy by utilizing the triboelectric effect and electrostatic induction. Embroidery triboelectric nanogenerators (ETENGs) offer a distinct prospect to incorporate energy harvesting capabilities into textile-based products. This research work introduces an embroidered triboelectric nanogenerator that is made using polyester and nylon 66 yarn. The ETENG is developed by using different embroidery parameters and its characteristics are obtained using a specialized tapping and friction device. Nine ETENGs were made, each with different stitch lengths and line spacings for the polyester yarn. Friction and tapping tests were performed to assess the electrical outputs, which included measurements of short circuit current, open circuit voltage, and capacitor charging. One sample wearable embroidered energy harvester collected 307.5 μJ (24.8 V) of energy under a 1.5 Hz sliding motion over 300 s and 72 μJ (12 V) of energy through human walking over 120 s. Another ETENG sample generated 4.5 μJ (3 V) into a 1 μF capacitor using a tapping device with a 2 Hz frequency and a 50 mm separation distance over a duration of 520 s. Measurement of the current was also performed at different pressures to check the effect of pressure and validate the different options of the triboelectric/electrostatic characterization device. In summary, this research explains the influence of embroidery parameters on the performance of ETENG (Embroidery Triboelectric Nanogenerator) and provides valuable information for energy harvesting applications.