We succeeded in generating acoustic phase conjugate waves with nonlinear PZT (Pb(ZrxTi1-x)O-3) ceramics. The efficiency of the phase conjugator, which is defined as the amplitude ratio of the phase conjugate wave to the incident wave, is found to be proportional to the variation in sound velocity under an applied electric field. We measured the sound velocity in PZT ceramics with different compositions by varying the applied electric field. The results correlated well with the observed efficiency. The PZT ceramics are generally more capable than LiNbO3 crystal of generating phase conjugate waves. We confirmed the time-reversal property of the phase conjugate waves by visualizing its propagation with the stroboscopic schlieren technique.