This paper proposes a polarization-dependent semiconductor optical amplifier (SOA)-based polarization shift keying (PolSK) modulation for turbulence-robust free-space optical (FSO) communication. Based on the nonlinear gain and polarization characteristics, the PolSK signal is modulated by the optical bit inversion using the polarization-dependent SOA and linear polarizer (LP). The capability of scintillation mitigation is analyzed under both balanced and polarization-independent SOA-based detections. The proposed technique is evaluated in experiments. The experimental results demonstrated that the bit-error-rate (BER) performance of the proposed technique was close to the conventional Mach-Zehnder modulator (MZM)-based PolSK modulation under various scintillation effects.