In order to achieve rotation angle measurement, one novel type of miniaturization fiber Bragg grating (FBG) rotation angle sensor with high measurement precision and temperature self-compensation is proposed and studied in this paper. The FBG rotation angle sensor mainly contains two core sensitivity elements (FBG1 and FBG2), triangular cantilever beam, and rotation angle transfer element. In theory, the proposed sensor can achieve temperature self-compensation by complementation of the two core sensitivity elements (FBG1 and FBG2), and it has a boundless angel measurement range with 2πrad period duo to the function of the rotation angle transfer element. Based on introducing the joint working processes, the theory calculation model of the FBG rotation angel sensor is established, and the calibration experiment on one prototype is also carried out to obtain its measurement performance. After experimental data analyses, the measurement precision of the FBG rotation angle sensor prototype is 0.2. with excellent linearity, and the temperature sensitivities of FBG1 and FBG2 are 10 pm/℃ and 10.1 pm/℃, correspondingly. All these experimental results confirm that the FBG rotation angle sensor can achieve large-range angle measurement with high precision and temperature self-compensation.