In experimental studies in geotechnical engineering, vibration with three degrees of freedom (DOFs), similar to that in an actual earthquake, needs to be reproduced in a centrifugal field. However, a suitable shaking table has not been developed. A general multi‐DOF shaking table requires a complicated mechanism and a large installation space and is unsuitable for centrifugal fields. In this paper, the world’s first shaking table capable of three‐dimensional motion in a centrifugal field was developed. The mechanical and control system requirements were defined, and the use of a Stewart platform mechanism consisting of six direct‐acting hydraulic cylinders was proposed. An air spring was installed to offset the centrifugal force on the inertial mass, and a pressurized spherical bearing was used to withstand the excitation force of the actuator while maintaining more than two DOFs for the bearing. The shaking table could operate up to a maximum of 50 G and generate a maximum of 10 G in a single axis.