This paper exhibits operating system and performances of a novel single-mass 6-axis Inertial Measurement Unit (IMU) using piezoelectric detection. The electronic processing circuitry for the concurrent detection of linear and angular motion is proposed. The IMU structure is based on the use of 2 rings, connected with eight electrodes, implemented on the top of a piezoelectric membrane used for both sense and drive modes. The four inner electrodes are used for components detection due to the direct piezoelectric effect, while the outer electrodes are used to generate the drive mode due to the reverse piezoelectric effect. Through finite element analysis, we show that linear accelerations generate an offset voltage on the sensing electrodes, while angular rates lead to a change in the amplitude of the initial AC signal caused by the drive mode. The present work represents an innovative design able to separate 6 motion data from signals using only 4 electrodes. The specific electronic circuitry for acceleration and angular rate data dissociation shows a very efficient method for signal separation since no leakage readout occurs in all six axes. Besides, other particular interest is that under no circumstances, angular outputs disturb or affect acceleration ones and vice versa. The evaluated sensitivities are 364 mV/g and 65.5 mV/g for in-plane and out-of-plane linear accelerations, respectively. Similarly, angular rates sensitivities are 2.59 mV/rad/s and 522 mV/rad/s.