High-temperature sensors are desirable for structural health monitoring and/or nondestructive evaluation of next-generation turbines, more efficient jet engines, and the furnace components of electrical power plants. Of all the investigated high-temperature piezoelectric materials, rare-earth calcium oxyborate crystals ReCa4O(BO3)3 (ReCOB, Re: rare-earth) exhibit attractive advantages for high-temperature piezoelectric sensing. In this paper, the electroelastic properties of different ReCOB piezoelectric crystals are investigated. The crosstalk between various vibration modes are discussed, from which the optimized crystal cuts are achieved. Furthermore, temperature dependences of the electrical resistivity, dielectric, elastic, piezoelectric, and electromechanical properties of ReCOB crystals are studied. Finally, the thermal properties, including thermal expansion, specific heat, and thermal conductivity at elevated temperatures are studied and compared with commercially available high-temperature piezoelectric crystals.