A charge relaxation rotary micro-gyroscope with cylindrical and multi-ring-shaped axial magnetizing, permanent magnetic and diamagnetic rotors belongs to the field of the micro-electromechanical system and comprises an upper stator, rotors and a lower stator. The invention can realize uncontrolled self-supporting suspension by providing suspension force and lateral stabilizing force to diamagnetic rotors by the cylindrical and multi-ring-shaped axial and radial magnetizing and permanent magnet in the upper and the lower stators, and can realize constant high-speed rotation of the rotors by charge relaxation without rotation speed detection, and meanwhile, the axial detection of the upper and the lower stators, the lateral detection of a feedback electrode and the lower stator and the electrostatic force between the feedback electrode and the rotors can be used for improving the axial rigidity, the lateral rigidity and the shock resistance of the micro-gyroscope, improving stable suspension performance, and reducing supporting and supporting control difficulties of the rotors, so as to realize self-stabilization without complex control mechanisms. The invention has the advantages of low power consumption, convenient implementation and small size; and can be used for measuring the acceleration of three axes along X-axis, Y-axis and Z-axis and the two axial angle acceleration around the X-axis and the Y-axis at the same time.