The invention discloses a heartbeat type single structure three-axis micro-electronmechanical gyroscope, which comprises a substrate and an axis structure, wherein the axis structure comprises horizontal axis structures and z-axis structures, the horizontal axis structures and the z-axis structures are mounted on the substrate respectively, the gyroscope adopts a radial shrinkage-expansion heartbeat type single driving mode, and all axes use independent induction structures. The horizontal axis structures are symmetrically arranged along an x-axis and a y-axis, the z-axis structures comprise four groups and are distributed between the horizontal axis structures and in two-two symmetry, umbilical cords are used for connecting the adjacent horizontal axis structures and the z-axis structures on the outer sides so as to enable the three-axis structure to get single drive, two mass blocks of each horizontal axis are connected by a cross connector respectively, when in induction, synchronous motion in reverse phases can be realized, and four mass blocks of an z-axis are sequentially connected through four synchronization coordinators to realize the synchronous motion of the mass blocks during the induction. The three axes, namely the x-axis, the y-axis and the z-axis can realize mutual decoupling between driving and detection.