The invention discloses a MEMS (micro-electro-mechanical system) fully decoupled closed-loop gyroscope. The gyroscope comprises a substrate and a sensitive device layer, wherein an insulating layer isarranged between the substrate and the sensitive device layer; the sensitive device layer comprises a first substructure, a second substructure and a coupling connection beam; each of the first substructure and the second substructure comprises a driving frame, driving folding beams, driving decoupling beams, a Coriolis mass block, a detection frame, detection beams, detection decoupling beams, driving fixed comb teeth, driving movable comb teeth, driving detection fixed comb teeth, driving detection movable comb teeth, detection fixed comb teeth, detection movable comb teeth, force feedbackfixed comb teeth, force feedback movable comb teeth and anchor points. Generation of quadrature error signals is suppressed, and the zero bias stability index of the MEMS gyroscope is improved; the gyroscope has compact structure and small chip area, and can prevent a detection-mode sensitive mass from twisting due to larger displacement, thereby having good overall linearity and high measurementaccuracy.