An outboard motor includes an engine, and a propeller driven by the engine via a drive shaft and a propeller shaft, a tilting mechanism that changes a tilt angle of the propeller shaft and/or the drive shaft, a triaxial acceleration sensor and a triaxial angular velocity sensor, and a controller. The controller is configured to acquire at least one of a gravity direction, a traveling direction, or a horizontal direction of the hull using the triaxial acceleration sensor, and detect at least one of a first angle of the drive shaft with respect to the gravity direction, a second angle of the propeller shaft with respect to the traveling direction, or a third angle of the propeller shaft with respect to the horizontal direction using the triaxial angular velocity sensor, to thereby control the tilting mechanism to adjust the tilt angle of the drive shaft and/or the propeller shaft.