The Doppler effect is a universal wave phenomenon that has spurred a myriad of applications. In early manifestations, it was implemented by interference with a reference wave to infer linear velocities along the direction of motion, and more recently lateral and angular velocities using scalar phase structured light. A consequence of the scalar wave approach is that it is technically challenging to directly deduce the motion direction of moving targets. Here we overcome this challenge using vectorially structured light with spatially variant polarization, allowing the velocity and motion direction of a moving particle to be fully determined. Using what we call a vectorial Doppler effect, we conduct a proof of principle experiment and successfully measure the rotational velocity (magnitude and direction) of a moving isotropic particle. The instantaneous position of the moving particle is also tracked under the conditions of knowing its starting position and continuous tracking. Additionally, we discuss its applicability to anisotropic particle detection, and show its potential to distinguish the rotation and spin of the anisotropic particle and measure its rotational velocity and spin speed (magnitude and direction). Our demonstration opens the path to vectorial Doppler metrology for detection of universal motion vectors with vectorially structured light.