The present invention concerns a vertical take-off and landing aerial vehicle flying thanks to a propulsion system (e.g. one or more propellers) that generates an upward force (lift) to counter gravity. The present invention proposes a vertical take-off and landing aerial vehicle comprising an inner frame (312), a gimbal system (301) and an outer frame (304), said inner frame comprising a propulsion system (101,102) and a control system, said propulsion system being able to generate a lift force, said control system being able to control the orientation of the inner frame, said gimbal system connecting the inner frame to the outer frame with at least two rotation axis allowing rotation freedom between the outer frame to rotate independently from the inner frame.