A MEMS gyroscope (60, 100), comprising: a supporting structure (125, 127); a mass mobile with respect to the supporting structure in a driving direction and in a sensing direction, perpendicular to each other, the mobile mass being affected by a quadrature error caused by a quadrature moment; a driving structure, coupled to the mobile mass and configured to control the movement of the mobile mass in the driving direction at a driving frequency; motion-sensing electrodes, coupled to the mobile mass and configured to detect the movement of the mobile mass in the sensing direction; quadrature-compensation electrodes, coupled to the mobile mass and configured to generate a compensation moment opposite to the quadrature moment, the quadrature-compensation electrodes comprising first and second quadrature-compensation electrodes; and a compensation controller; the mobile mass having a variable sensing resonance frequency, the difference between the sensing resonance frequency and the driving frequency being a frequency mismatch; characterized in that the compensation controller is configured to bias the first and second quadrature-compensation electrodes at first and at second compensation voltages V 1, V 2, respectively, such as to drive the mobile mass at a preset frequency mismatch, wherein V 1 and V 2 are chosen for satisfying the equation: Δ f 0 = 1 2 π ω s 0 2 − k S J V R − V 1 2 + V R − V 2 2 − f d where: Δf 0 is the preset frequency mismatch; V R is a biasing voltage of the mobile mass; ω S0 is the sensing resonance frequency of the mobile mass; k s /J is a parameter correlated to mechanical constants of the mobile mass; and f d is the driving frequency. a supporting structure (125, 127); a mass mobile with respect to the supporting structure in a driving direction and in a sensing direction, perpendicular to each other, the mobile mass being affected by a quadrature error caused by a quadrature moment; a driving structure, coupled to the mobile mass and configured to control the movement of the mobile mass in the driving direction at a driving frequency; motion-sensing electrodes, coupled to the mobile mass and configured to detect the movement of the mobile mass in the sensing direction; quadrature-compensation electrodes, coupled to the mobile mass and configured to generate a compensation moment opposite to the quadrature moment, the quadrature-compensation electrodes comprising first and second quadrature-compensation electrodes; and a compensation controller; the mobile mass having a variable sensing resonance frequency, the difference between the sensing resonance frequency and the driving frequency being a frequency mismatch; characterized in that the compensation controller is configured to bias the first and second quadrature-compensation electrodes at first and at second compensation voltages V 1, V 2, respectively, such as to drive the mobile mass at a preset frequency mismatch, wherein V 1 and V 2 are chosen for satisfying the equation: Δ f 0 = 1 2 π ω s 0 2 − k S J V R − V 1 2 + V R − V 2 2 − f d where: Δf 0 is the preset frequency mismatch; V R is a biasing voltage of the mobile mass; ω S0 is the sensing resonance frequency of the mobile mass; k s /J is a parameter correlated to mechanical constants of the mobile mass; and f d is the driving frequency. Δf 0 is the preset frequency mismatch; V R is a biasing voltage of the mobile mass; ω S0 is the sensing resonance frequency of the mobile mass; k s /J is a parameter correlated to mechanical constants of the mobile mass; and f d is the driving frequency.