This study developed and validated an AI literacy assessment tool for teachers and students based on the UNESCO AI Competency Framework. AI literacy was reconceptualized as a broad concept that goes beyond technical proficiency to include human-centered thinking, AI ethics, and social responsibility, and the study took an integrated approach to teachers’ and students’ AI literacy from an educational perspective. The assessment tool for teachers consists of 45 items across 15 components in five domains: human-centered thinking, AI ethics, AI technology and applications, AI pedagogy, and professional development. The tool for students consists of 36 items across 12 components in four domains: human-centered thinking, AI ethics, AI technology and applications, and AI system design. The model’s fit was assessed and its validity verified using a sample of 4,044 middle and high school students and 772 teachers in Gyeonggi Province. The results showed that the AVE and CR values for all domains exceeded the benchmark, confirming the model’s validity and reliability. By assessing the AI literacy of both teachers and students within the same theoretical framework, this tool suggests that it can serve as foundational data for future AI literacy education, teacher professional development, and the formulation of related policies in school settings. Furthermore, it can be utilized as foundational data for setting the direction of AI literacy education and developing customized educational programs.