Multi-axes force sensors are extensively utilized in engineering fields, for example, in automotive development, where six-axes force transducers are used to measure force components applied to wheels, and as sensors in robotic manipulators. This paper describes a new structural optimization method for multi-axes force sensor structures, considering the accuracy of force detection. First, we formulated a homogenization design method (HDM) in which continuous material distributions were assumed using a continuous interpolation function at each node. Next, we clarified the mechanical requirements and design specifications of the sensor structure using a methodology based on singular value decomposition and constructed an objective function that aims to satisfy given design specifications. The sensitivities of the objective function with respect to the design variables were formulated. On the basis of these formulations, an optimization algorithm was constructed using sequential linear programming (SLP). Finally, we examined the characteristics of the optimization formulations and the generated optimal configurations and confirmed the usefulness of our proposed methodology for the optimization of multi-axes force sensor structures.