A frequency modulation MEMS triaxial gyroscope , comprising: a first mobile mass and a second mobile mass suspended over a substrate ; a central suspension structure arranged between the first and second mobile masses and coupling the first and second mobile masses to each other and the substrate ; a first driving body coupled to the first mobile mass through first elastic elements ; a second driving body coupled to the second mobile mass through second elastic elements , the first and second elastic elements being rigid in a first direction (X) and compliant in a second direction transverse to the first direction (Y); a third driving body coupled to the first mobile mass through third elastic elements ; a fourth driving body coupled to the second mobile mass through fourth elastic elements , the third and fourth elastic elements being rigid in the second direction and compliant in the first direction; a first and a second driving element , coupled to the first and second driving bodies , respectively, and configured to cause the first and second mobile masses to translate in the first direction at a first frequency and in phase opposition; a third and a fourth driving element , coupled to the third and fourth driving bodies , respectively, and configured to cause the first and second mobile masses to translate in the second direction at a second frequency and in phase opposition; an out-of-plane driving element , coupled to the first and second mobile masses and configured to cause the first and second mobile masses to translate in a third direction (Z), at a third frequency and in phase opposition, the third direction being transverse to the first and second directions; and movement sensing electrodes coupled to the first and second masses in the first, second, and third directions for sensing movements due to external angular velocities, and generating, in use, signals at a frequency depending upon the external angular velocities. a first mobile mass and a second mobile mass suspended over a substrate ; a central suspension structure arranged between the first and second mobile masses and coupling the first and second mobile masses to each other and the substrate ; a first driving body coupled to the first mobile mass through first elastic elements ; a second driving body coupled to the second mobile mass through second elastic elements , the first and second elastic elements being rigid in a first direction (X) and compliant in a second direction transverse to the first direction (Y); a third driving body coupled to the first mobile mass through third elastic elements ; a fourth driving body coupled to the second mobile mass through fourth elastic elements , the third and fourth elastic elements being rigid in the second direction and compliant in the first direction; a first and a second driving element , coupled to the first and second driving bodies , respectively, and configured to cause the first and second mobile masses to translate in the first direction at a first frequency and in phase opposition; a third and a fourth driving element , coupled to the third and fourth driving bodies , respectively, and configured to cause the first and second mobile masses to translate in the second direction at a second frequency and in phase opposition; an out-of-plane driving element , coupled to the first and second mobile masses and configured to cause the first and second mobile masses to translate in a third direction (Z), at a third frequency and in phase opposition, the third direction being transverse to the first and second directions; and movement sensing electrodes coupled to the first and second masses in the first, second, and third directions for sensing movements due to external angular velocities, and generating, in use, signals at a frequency depending upon the external angular velocities. <EOS>