Real-time monitoring of UAV motor speed is crucial for enhancing control performance and ensuring flight safety. However, this task faces challenges such as difficult sensor installation and high costs. This study introduces a wireless rotational speed sensing system based on a UAV-rotary triboelectric nanogenerator (UR-TENG). By employing a carefully designed structure with soft contact and a freestanding-triboelectric-layer mode, UR-TENG exhibits characteristics like low friction, affordability, ease of production, and self-powering capability. This eliminates the need for an external power source and addresses the complexity of installation in the limited space of UAVs. Experimental findings demonstrate that UR-TENG possesses high sensitivity and stability, maintaining the structural integrity of the UAV. The goodness of fit is notably high at 0.99959, with a maximum error rate of only 0.014 within a range of 6270 rpm. Moreover, UR-TENG integrates with a microcontroller unit (MCU) and external circuitry to form a monitoring system. This system transmits electrical signals to a PC via a Wi-Fi module, facilitating real-time rotational speed sensing and anomaly detection. Finally, a practical application demonstration on a UAV validates the adaptability of UR-TENG to complex operational environments. This study presents a promising approach for online rotation monitoring of UAV motors, with potential for commercialization, and introduces new avenues for TENG application in UAV technology.