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Measurement While Drilling (MWD) is the most commonly used real-time information acquisition technique in offshore intelligent drilling, its power supply has always been a concern. Triboelectric nanogenerators have been shown to harvest low-frequency vibrational energy in the environment and convert it into electricity to power small sensors and electrical devices. This work proposed a cantilever-beam-based triboelectric nanogenerator (CB-TENG) for transverse vibration energy harvesting of a drill pipe. The CB-TENG consists of two vibrators composed of spring steel with PTFE attached and Al electrodes. The structurally optimized CB-TENG can output a peak power of 2.56 mW under the vibration condition of <i>f</i> = 3.0 Hz and <i>A</i> = 50 mm, and the electrical output can be further enhanced with the increased vibration parameters. An array-type vibration energy harvester integrated with eight CB-TENGs is designed to fully adapt to the interior of the drill pipe and improve output performance. The device can realize omnidirectional vibration energy harvesting in the two-dimensional plane with good robustness. Under the typical vibration condition, the short-circuit current and the peak power can reach 49.85 μA and 30.95 mW, respectively. Finally, a series of demonstration experiments have been carried out, indicating the application prospects of the device.