Piezoelectric actuation is a promising principle for insect-scaled robots. A major concern while utilizing a piezoelectric actuator is energy loss due to its parasitic capacitance. In this paper, we propose a new concept to recover the charge stored in the parasitic capacitance; it requires only three additional lightweight passive components: two diodes and a resistor. The advantages of our concept are its small additional mass and simple operating procedure compared with existing charge recovery circuits. We provided a guideline for selecting a resistor using a simplified theoretical model and found that half of the charge can be recovered by employing a resistor that has a resistance sufficiently larger than the forward resistance of the additional diode. In addition, we experimentally demonstrated the concept. With a capacitive load (as a replacement for the piezoelectric actuator), it was successfully observed that the proposed concept decreased the power consumption to 58% of that in a circuit without charge recovery. Considering micro aerial vehicle (MAV) applications, we measured the lift-to-power efficiency of a flapping wing piezoelectric actuator by applying the proposed concept. The lift force was not affected by charge recovery; however, the power consumption was reduced. As a result, the efficiency was improved to 30.0%. We expect that the proposed circuit will contribute to the advancement of energy-saving microrobotics.