A torque ripple sensor and method for torque ripple sensing and/or mitigation. A piezoelectric sensor is positioned relative to a motor so that torque fluctuations due to torque ripple of the motor are transmitted to the sensor, resulting in strain of a piezoelectric element. A resulting signal can be amplified and conditioned for determining a magnitude of the torque ripple and/or fed into a feedback loop for applying current control or a counter-torque to the motor for torque ripple mitigation.