We investigate the many-body properties of graphene on top of a piezoelectric substrate, focusing on the interaction between the graphene electrons and the piezoelectric acoustic phonons. We calculate the electron and phonon self-energies as well as the electron mobility limited by the substrate phonons. We emphasize the importance of the proper screening of the electron-phonon vertex and discuss the various limiting behaviors as a function of electron energy, temperature, and doping level. The effect on the graphene electrons of the piezoelectric acoustic phonons is compared with that of the intrinsic deformation acoustic phonons of graphene. Substrate phonons tend to dominate over intrinsic ones for low doping levels at high and low temperatures.