Accurate measurement of tooth mobility has been experimentally developed. In this study, the relationship between tooth mobility and percussion waveform using a new device was determined in a model and in humans. The newly developed tooth percussion device was found to be compact and the measurements obtained with this device were reproducible. Peak acceleration, duration, and peak frequency of the power spectrum of percussion wave corresponded significantly to tooth mobility, suggesting that these measurements are appropriate parameters of tooth mobility. The peak acceleration of the percussion wave caused by tapping a tooth correlated and decreased significantly with the increase in mobility among tooth groups divided according to clinical mobility of Classes 0, 1 and 2. The duration of the percussion wave caused by tapping a tooth correlated and increased significantly with the increase in mobility among tooth groups divided according to clinical mobility of Classes 0, 1 and 2. These findings indicate that the peak value and duration of the percussion caused by tapping a tooth can be used as indicators to objectively evaluate tooth mobility. It was found that tooth mobility can be easily and objectively measured by the newly developed device.