The Doppler effect of motional polarization grating is studied for the first time to the best of our knowledge. Based on the optical properties of polarization grating, the Doppler effect principle of polarization grating is elucidated theoretically. A method to obtain the Doppler frequency shift based on beat frequency signal that is produced by superposition of order ±1 diffraction beams of polarization grating is proposed, and a proof-of-concept experiment is conducted to measure the frequency signal of the motional polarization grating. The movement characteristics of polarization grating varying with time can be obtained after a short-time Fourier transformation of the light signal. The experimental results are in good agreement with the theoretical predication, which verifies the correctness of the theoretical analysis and achieves the measurement of linear motion velocity and acceleration of motional polarization grating with high accuracy. This study proposes a new idea for laser frequency shift and has potential significance for further development of optical heterodyne detection.