The present invention provides, as one aspect, an apparatus for inspecting a sensor module including at least one held sensor in a housing having a plurality of outer surfaces. The held sensor detects acceleration or angular velocity. The apparatus includes a holding unit that has an apparatus-side surface and holds the housing in a state where one of the outer surfaces of the housing serving as a housing-side surface contacts the apparatus-side surface, a driving unit that moves the holding unit, a first obtaining unit that, in a state where the housing-side surface contacts the apparatus-side surface, obtains an output from the held sensor, at least one reference sensor that has a detection axis and is provided such that a direction of the detection axis matches a direction of a reference axis of the held sensor, and a second obtaining unit that obtains an output from the reference sensor.