This paper presents an energetically autonomous IoT sensor powered via thermoelectric harvesting. The operation of thermal harvesting is based on maintaining a temperature gradient of at least 26.31 K between the thermoelectric-generator sides. While the hot side employs a metal plate, the cold side is attached with a phase-change material acting as an effective passive dissipative material. The desired temperature gradient allows claiming power conversion efficiencies of about 26.43%, without efficiency reductions associated with heating and soiling. This work presents the characterization of a low-cost off-the-shelf thermoelectric generator that allows estimating the production of at least 407.3 mW corresponding to 2.44 Wh of available energy considering specific operation hours—determined statistically for a given geographic location. Then, the energy production is experimentally verified with the construction of an outdoor IoT sensor powered by a passively-cooled thermoelectric generator. The prototype contains a low-power microcontroller, environmental sensors, and a low-power radio to report selected environmental variables to a central node. This work shows that the proposed supply mechanism provides sufficient energy for continuous operation even during times with no solar resource through an on-board Li-Po battery. Such a battery can be recharged once the solar radiation is available without compromising sensor operation.