Aiming at the problem of high output noise and low accuracy of MEMS gyroscope, a Savitzky-Golay smoothing-wavelet denoising method is proposed to process the output signal of MEMS gyroscope. Firstly, Savitzky-Golay smoothing filtering method is used to preprocess the original output signal of MEMS gyroscope. Then, different wavelet threshold rules are used to denoise the processed gyro signal again, and the results are compared with the corresponding wavelet denoising results. The simulation results show that the algorithm reduces the root mean square error of gyro signal by 59.75%, the amplitude by 41.9%, and the sum of squares of errors by 83.80%, and the filtering effect is better than the corresponding wavelet denoising method.