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This paper discusses the complementary of the Quaternion method and the Boole method on the IMU sensor to calculate the orientation angle of the Stewart Platform. Validation of orientation angles The Stewart platform is very difficult to do using manual measuring devices, so it requires an IMU sensor to calculate the orientation angle. The IMU sensor consists of three types of sensors, namely the accelerometer, magnetometer, and gyroscope sensors. The Quaternion method is used to calculate the pitch angles and the roll of the accelerometer sensor, and calculate the yaw angle of the magnetometer sensor. The Boole method is used to calculate the pitch, roll, and yaw angles of the gyroscope sensor. Next, the orientation angle of the accelerometer and magnetometer is combined with the orientation angle of the gyroscope using complementary. The test is performed in six repetitions with angular parameters: 5, 10, 15, 20, 25, and 30 degrees. Overall, the pitch angle has an average of error percentage of 2.31%, roll angle has an average of error percentage of 1.98%, and yaw angle has an average of error percentage of 1.63%. The measurement results of the orientation angle of the Stewart Platform using the IMU sensor show that the complementary of Quaternion and Boole methods on the IMU sensor is quite feasible to be used as measuring instruments for the orientation angle of the Stewart Platform