The microstructure and electrical characteristics of ZPCD (ZnO-$Pr_{6}O_{11}$-CoO-$Dy_2O_3$) -based varistor ceramics were investigated with various $Pr_{6}O_{11}$/CoO ratios and sintering temperatures. The density of varistor ceramics with $Pr_{6}O_{11}$=1.0 was almost constant with sintering temperature, whereas it was increased noticeably in $Pr_{6}O_{11}$=0.5. Increasing $Pr_{6}O_{11}$ content enhanced the densification for any CoO content and the density was greatly affected not by CoO content but by $Pr_{6}O_{11}$ content. The varistor ceramics with $Pr_{6}O_{11}$/CoO=0.5/l.0 exhibited a higher nonlinearity than any other composition ratios. In particular, the varistor ceramics sintered at $1350^{circ}C$ exhibited the best electrical properties, with nonlinear exponent of 37.8, leakage current of 7.6 ${mu}$A, and tan $delta$ of 0.059.