A microelectromechanical device, comprising: a fixed structure having a frame defining a cavity; a tiltable structure elastically suspended above the cavity and having a main extension in a horizontal plane (xy); a piezoelectrically driven actuation structure, configured to be biased to cause a desired rotation of the tiltable structure about a first rotation axis and a second rotation axis in said horizontal plane (xy); and a supporting structure integral with the fixed structure and extending in the cavity starting from the frame, further comprising lever elements, elastically coupled to the tiltable structure at a first end by respective elastic suspension elements of the microelectromechanical device and to the supporting structure at a second end by elastic connecting elements of the microelectromechanical device, of a torsional type, which define a lever rotation axis, wherein the lever elements are moreover elastically coupled to the actuation structure so that biasing of said actuation structure causes, as a result of rotation of said lever elements about the lever rotation axis, the desired rotation of the tiltable structure about the first rotation axis and the second rotation axis; characterised in that said actuation structure comprises, for each of said lever elements, a first pair of driving arms, elastically coupled to the lever element by first elastic driving elements of the microelectromechanical device, and a second pair of driving arms, elastically coupled to the lever element by second elastic driving elements of the microelectromechanical device on an opposite side of the lever rotation axis with respect to said first elastic driving elements. a fixed structure having a frame defining a cavity; a tiltable structure elastically suspended above the cavity and having a main extension in a horizontal plane (xy); a piezoelectrically driven actuation structure, configured to be biased to cause a desired rotation of the tiltable structure about a first rotation axis and a second rotation axis in said horizontal plane (xy); and a supporting structure integral with the fixed structure and extending in the cavity starting from the frame, further comprising lever elements, elastically coupled to the tiltable structure at a first end by respective elastic suspension elements of the microelectromechanical device and to the supporting structure at a second end by elastic connecting elements of the microelectromechanical device, of a torsional type, which define a lever rotation axis, wherein the lever elements are moreover elastically coupled to the actuation structure so that biasing of said actuation structure causes, as a result of rotation of said lever elements about the lever rotation axis, the desired rotation of the tiltable structure about the first rotation axis and the second rotation axis; characterised in that said actuation structure comprises, for each of said lever elements, a first pair of driving arms, elastically coupled to the lever element by first elastic driving elements of the microelectromechanical device, and a second pair of driving arms, elastically coupled to the lever element by second elastic driving elements of the microelectromechanical device on an opposite side of the lever rotation axis with respect to said first elastic driving elements.