Adopting a new design structure and using a single fiber Bragg grating, simultaneous measurement of two parameters for the torsion (torque or torsional stress) and the temperature have been realized. The new method can solve the temperature cross-sensitivity in torsional angel and torque sensing, and the Bragg wavelength change is linear to the torsional angel, the torque and torsional stress with the determinate arm of force. In the range of the torsional angle between -40° and +32°, the torsional angle, torque and temperature sensitivities are 0.19 nm/(°), 3.29 nm/Nm and 0.03 nm/℃, respectively. The wavelength range of linear tuning is up to 14.20 nm.