The multiple polarization states driven by polarization rotation could trigger giant piezoelectric responses in electromechanical sensors. Theoretically and experimentally, polarization rotation in ferroelectrics was contentiously reported in PbTiO 3 thin films, which may result from low symmetric phases, flexoelectricity, or interfacial oxygen octahedral coupling. In this work, 5 nm PbTiO 3 was grown on SrRuO 3 -buffered (001)-and ( 101)-oriented SrTiO 3 substrates. By using piezoresponse force microscopy and (scanning) transmission electron microscopy, self-assembled PbTiO 3 nanostructures with a triangularprism-shaped morphology (average width about 30 nm) were observed on the (101)-oriented SrTiO 3 substrate. Particularly, continuous polarization rotation state was confirmed in each PbTiO 3 nanostructure, where the rotation angle is up to 90°approximately from the left side to the right side. In collaboration with phase-field simulations, it is proposed that the surface positive charge accumulation facilitates the formation of continuous polarization rotation. Piezoresponse force microscopy measurements indicate that these [101]PbTiO 3 nanostructures with polarization rotation display a superior piezoelectric response compared with the [001]PbTiO 3 thin film. These results not only shed light on understanding the polarization rotation mechanism in ferroelectrics but also are expected to provide useful information for developing the high performance of electromechanical devices.