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The inclination effect caused by fabrication errors on the periodic response of a symmetric MEMS gyroscope is investigated. The dynamic equation is established considering the inclination effect on support stiffness and electrostatic forces. The periodic response is obtained by the averaging method. The two-variable singularity theory is employed to study the bifurcation characteristics and give transition sets on the DC-AC voltage plane, which divide the plane into four persistent regions. The amplitude-frequency curves demonstrate that only the two persistent regions with low voltages are feasible for the gyroscope. Both over-etching and under-etching reduce the feasible region. The effect of parameters on the performance is present. The mechanical sensitivity and nonlinearity increase with the voltages. With the increase in the inclination angle, the mechanical sensitivity and nonlinearity decrease first and then increase. The full temperature stability of the mechanical sensitivity is also considered. The variation in mechanical sensitivity with temperature is small at a large voltage and negative inclination angle. Under-etching, which leads to small nonlinearity and good temperature stability, is more beneficial to the performance of the gyroscope than over-etching.