A novel linear permanent magnet vernier generator (LPMVG) for small-power off-grid wave power generation systems is proposed in this paper. Firstly, in order to reduce the cogging force and the inherent edge effect of the linear generator, a staggered tooth modular structure is proposed. Secondly, in order to improve the output power and efficiency of the LPMVG and reduce the fluctuation coefficient of electromagnetic force, the relationship between the parameters of the generator is studied, and a method combining multi-objective optimization and single parameter scanning based on the response surface model and particle swarm optimization algorithm is proposed to obtain the optimal structural parameters of the generator. Thirdly, the output power and efficiency of the optimized generator are calculated and analyzed based on the two-dimensional finite element method, and the effectiveness of the multi-objective optimization design method based on the response surface model and particle swarm optimization algorithm is verified. Finally, a prototype is developed, and the calculated results and the measured results are shown to be in good agreement.