The present invention relates to a universal motion controller in which a 3D movement and a rotational input are possible, and more particularly to a universal motion controller in which the rotation of a controller is recognized using at least one sensor detecting the positional movement of the controller, and which enables the rotation of a selected object in a 3D space corresponding to a recognized angle. By using the controller, which enables the three-dimensional input of a controller wheel corresponding to the value of a z-axis and the rotational angle of the object or of the coordinate axis, a control signal for controlling various machine devices can be generated. According to the present invention, the universal motion controller, in which a 3D movement and a rotational input are possible, comprises: a first motion-detection unit installed in one side of the lower surface of the controller for generating x-axis and y-axis motion signals in a 2D plane for a machine device; a second motion-detection unit installed in another side of the lower surface of the controller for generating a rotation signal in a 2D plane in a machine device in conjunction with the motion signals of the first motion-detection unit; at least one wheel operation unit for generating an operation signal capable of controlling at least one component included in the machine device; a button a for generating a first selection signal for performing a first function selected by a user; and a button b for generating a second selection signal for performing a second function selected by the user.