In order to reduce the temperaturerelated errors in MEMS gyroscope, a novel temperaturerelated errors modeling and temperature compensation method of MEMS gyroscope is proposed without measuring the temperature. First, the polynomial model of the zero bias and temperature of MEMS gyroscope at the full temperature zone has been established through the polynomial fitting, and the model orders can be determined simultaneously by the least square method. Then, the temperature model of the driving axis phase is established by analyzing the effect of temperature on the driving axis phase. At last, the polynomial fitting model of the zero bias and driving axis phase is gained, and the gyroscope zero bias can be compensated based on the model. The results of the experiments show that the proposed method can reduce the gyroscope error caused by temperature significantly, and thus the accuracy is improved.