A rotating sensing device includes a base, a rotating element, at least one magnetic element set, at least one magnetic sensing element set, and a processing unit. The magnetic element set is arranged on the rotating element and includes an axial magnetic element and a radial magnetic element. The magnetic sensing element set is arranged on the base and includes an axial magnetic sensing element and a radial magnetic sensing element. When the rotating element is rotated relatively to the base, a magnetic variation relative to the axial magnetic element and a magnetic variation relative to the radial magnetic element are respectively sensed by the axial magnetic sensing element and the radial magnetic sensing element, so as to generate a sensing signal. The processing unit is adapted to obtain a rotation speed, a loading value, and a deflection value. In addition, a rotating sensing method is also provided.