The invention relates to an angular vibration generating device used for gyro frequency characteristics, and a gyro frequency measuring method. The angular vibration generating device comprises a structure flexible body; the two ends of the structure flexible body are provided with a machinery installation interface connected with a linear vibration table, and an installation interface connected with a gyro to be measured; in measuring, the gyro to be measured is arranged at the gyro installation interface of the angular vibration generating device, and the machinery installation interface of the angular vibration generating device is arranged on the linear vibration table; under the action of vibration excitation signals sent by the linear vibration table, angular vibrations are generated by the gyro installation interface of the angular vibration generating device; vibration response analysis is adopted to calculate the angular velocity of the gyro installation interface; angular velocity value displayed by the gyro is read, data processing is carried out based on the gyro angular velocity value and the angular velocity of the gyro installation interface so as to obtain the gyro frequency characteristics. The gyro frequency measuring method is capable of realizing relatively complete measuring on the gyro frequency characteristics in a relatively large frequency range, frequency can be increased to be 2000Hz or higher, and measuring range is three times or higher of the gyro frequency range.