A MEMS device (40; 240) comprising: a platform; a frame, supporting the platform through elastic connection elements configured to enable rotation of the platform about a first axis; a bearing structure, supporting the frame through elastic suspension elements (49; 249) configured to enable rotation of the frame about a second axis transverse to the first axis; and a stress sensor (51, 52) arranged on the elastic suspension elements (49; 249), the elastic suspension elements (49; 249) having a serpentine shape formed by suspension arms comprising a first and second suspension arms extending parallel to the second axis, the elastic suspension elements having a first end connected to the frame and a second end anchored to the bearing structure through respective anchorage portions arranged offset with respect to the second axis, wherein the stress sensor comprises a first and a second sensor elements (51, 52) arranged on a same side of the second axis, symmetrically with respect to the first axis, in proximity of the respective anchorage portions at the second ends of the first and second suspension arms, respectively, and each sensor element (51, 52) comprises a first and a second resistor, of a piezoresistive or piezoelectric type, the first and second resistors of each sensor element (51, 52) being arranged transverse to the second axis and symmetrical to each other with respect to a symmetry axis parallel to the first axis, the first and second resistors of each sensor element defining a first and a second biasing node (SB1+, SB1-, SB2+, SB2-) and being connected to each other at a common intermediate output node (SO1, SO2; SO1-, SO2+) to define a half-bridge configuration. a platform; a frame, supporting the platform through elastic connection elements configured to enable rotation of the platform about a first axis; a bearing structure, supporting the frame through elastic suspension elements (49; 249) configured to enable rotation of the frame about a second axis transverse to the first axis; and a stress sensor (51, 52) arranged on the elastic suspension elements (49; 249), the elastic suspension elements (49; 249) having a serpentine shape formed by suspension arms comprising a first and second suspension arms extending parallel to the second axis, the elastic suspension elements having a first end connected to the frame and a second end anchored to the bearing structure through respective anchorage portions arranged offset with respect to the second axis, wherein the stress sensor comprises a first and a second sensor elements (51, 52) arranged on a same side of the second axis, symmetrically with respect to the first axis, in proximity of the respective anchorage portions at the second ends of the first and second suspension arms, respectively, and each sensor element (51, 52) comprises a first and a second resistor, of a piezoresistive or piezoelectric type, the first and second resistors of each sensor element (51, 52) being arranged transverse to the second axis and symmetrical to each other with respect to a symmetry axis parallel to the first axis, the first and second resistors of each sensor element defining a first and a second biasing node (SB1+, SB1-, SB2+, SB2-) and being connected to each other at a common intermediate output node (SO1, SO2; SO1-, SO2+) to define a half-bridge configuration.