Acceleration-based sensors are widely used in indicating the severity of damage caused to structural buildings during dynamic events. The force rate of change is of interest when investigating the effect of seismic waves on structural elements, and hence the calculation of the jerk is necessary. For most sensors, the technique used for measuring the jerk (m/s3) is based on differentiating the time–acceleration signal. However, this technique is prone to errors especially in small amplitude and low frequency signals, and is deemed not suitable when online feedback is required. Here, we show that direct measurement of the jerk can be achieved using a metal cantilever and a gyroscope. In addition, we focus on the development of the jerk sensor for seismic vibrations. The adopted methodology optimized the dimensions of an austenitic stainless steel cantilever and enhanced the performance in terms of sensitivity and the jerk measurable range. We found, after several analytical and FE analyses, that an L-35 cantilever model with dimensions 35 × 20 × 0.5 (mm3) and a natural frequency of 139 (Hz) has a remarkable performance for seismic measurements. Our theoretical and experimental results show that the L-35 jerk sensor has a constant sensitivity value of 0.05 ((deg/s)/(G/s)) with ±2% error in the seismic frequency bandwidth of 0.1~40 (Hz) and for amplitudes in between 0.1 and 2 (G). Furthermore, the theoretical and experimental calibration curves show linear trends with a high correlation factor of 0.99 and 0.98, respectively. These findings demonstrate the enhanced sensitivity of the jerk sensor, which surpasses previously reported sensitivities in the literature.