A solid oxide fuel cell (SOFC) with a liquid antimony anode (LAA) is a potential energy conversion technology for the use of impurity-containing fuels. Atmospheric plasma spraying (APS) technology has become a promising LAA-SOFC preparation method because of its economy and convenience. In this paper, button SOFCs with different cathode materials and ratios of pore former were prepared by the APS method and were operated at 750 °C. The effect of the cathode structure on the electrochemical performance of the LAA-SOFCs was analyzed, and an optimized spraying method for LAA-SOFCs was developed. A tubular LAA-SOFC was prepared using the APS method based on the optimized spraying method, and a peak power of 2.5 W was reached. The tubular cell was also measured at a constant current of 2 A for 20 h and was fed with a sulfur-containing fuel to demonstrate its impurity resistance and electrode stability.