A review of analyses on vibrations of rotating piezoelectric structures for applications in piezoelectric angular rate sensors is presented. The operating principle and the basic behaviors of piezoelectric gyroscopes are shown by a simple example. Structural shapes and vibration modes that can be used to make gyroscopes are summarized. Analytical and numerical results from the three-dimensional equations of a rotating piezoelectric body and the corresponding one- and two-dimensional theories of piezoelectric beams, rings, plates, and shells are reviewed.