With the rapid development of intelligent transportation systems (ITS), real-time monitoring of vehicle motion state (sharp deceleration, sharp turn, etc.) is very important to improve road traffic safety and efficiency. However, the existing monitoring methods rely heavily on high-cost monitoring equipment and additional power supply requirements. Therefore, this paper proposed a gyroscope-inspired triboelectric three-axis acceleration sensor (GTTAS) for vehicle motion state monitoring. The GTTAS utilizes the structural characteristics of the gyroscope to efficiently integrate the horizontal acceleration sensing unit (HASU) and the vertical acceleration sensing unit (VASU) to realize the monitoring of three orthogonal axis accelerations. Meanwhile, adopting soft contact and non-contact electrode arrangement, GTTAS can work effectively in a low acceleration range. The experimental results show that the sensor shows a good fitting relationship in the horizontal acceleration range of 1–15 m −1s2 and the vertical acceleration range of 3.5–30 m −1s2. In addition, the sensor has the ability of monitoring pitch and roll angles. Finally, the vehicle motion state monitoring system is constructed, and the strategy of real-time monitoring and early warning of the vehicle motion state is presented. This work provides an effective solution for preventing traffic accidents and demonstrates the potential for wide application in intelligent transportation systems.