A six degree-of-freedom thrust sensor was designed, constructed, calibrated, and tested using the labscale hybrid rocket at the University of Arkansas at Little Rock. The system consisted of six independent legs: one parallel to the axis of symmetry of the rocket for main thrust measurement, two vertical legs near the nozzle end of the rocket, one vertical leg near the oxygen input end of the rocket, and two separated horizontal legs near the nozzle end. Each leg was composed of a rotational bearing, a load cell, and a universal joint above and below the load cell. The leg was designed to create point contact along only one direction and minimize the non-axial forces applied to the load cell. With this system, force in each direction and moments for roll, pitch, and yaw can be measured. The system was calibrated and tested using a labscale hybrid rocket using gaseous oxygen and hydroxyl-terminated polybutadiene solid fuel. The thrust stand proved to be stable during calibration tests. Thrust force vector components and roll, pitch, and yaw moments were calculated for test firings with an oxygen mass flow rate range of 0.0174-0.0348 kg s −1 .