Herein, we present a 16.8 nW ultra-low-power (ULP) energy harvester integrated circuit (IC) for ingestible biomedical sensors. The energy harvester can be powered from the electro-galvanic operation inside a human body, which provides a sustainable and long-term energy source. The challenge of dealing with relatively high input impedance (∼kΩ) of the bio-galvanic energy source is addressed by introducing two design techniques. The first technique is an adaptive VMPP-controlled algorithm (AVCA) for a maximum power point tracking (MPPT) controller, and the second technique is a ULP delay-line-based zero current switching (ZCS) controller. Different from the conventional fractional open-circuit voltage (FOCV) method for MPPT, the proposed AVCA allows continuous source tracking without detachment of the harvester from the source. The ZCS operation is achieved using a delay-line controller without using either a comparator or an opamp. The proposed AVCA is realized using a 12.1 nW MPPT controller. Successful ZCS operation is achieved using a 2.1 nW delay controller. Overall power consumption of the IC is 16.8 nW. The converter has been fabricated in a 0.18 μm CMOS process with 2 μm thick top-metal option. The measured result shows that the converter achieves a peak efficiency of 72.1% to generate 507 nW output power. The ULP operation allows a significant reduction in electrode size down to the submillimeter scale (∼0.4 mm2), demonstrating the good potential of the proposed energy harvester IC.