Provided is a control moment gyroscope, in which a pair of momentum wheels are symmetrically disposed, thereby reducing torque noise and vibration, increasing output torque, and reducing its size. The control moment gyroscope includes a gimbal rim, a wheel frame having a first wheel frame located inside the gimbal rim and a second wheel frame having the same structure as the first wheel frame and symmetrically coupled with the first wheel frame, a first momentum wheel coupled to the first wheel frame, a second momentum wheel coupled to the second wheel frame corresponding to the first momentum wheel, a gimbal motor installed on an outer circumference of the gimbal rim and connected with first ends of the first and second wheel frames, and an angular velocity sensor installed on the outer circumference of the gimbal rim, connected with second ends of the first and second wheel frames.