We demonstrate a scheme for atom interferometry to measure multiple axes of accelerations and rotations based on a single-diode laser and a pyramidal magneto-optical trap. The atom interferometer is constructed based on a simple and robust design. Additionally, with zeroed AC Stark shift, efficient Raman transition has been achieved by use of modest laser intensity and a small single photon detuning. By irradiating Raman beams toward not only the whole pyramid but also individual pyramidal faces, multiaxis atom interferometers have been operated. As a demonstration, the vertical interferometer measures the gravity with a sensitivity of 6 μm/s2 /√Hz and one interferometer along the diagonal axis observes the long-term tilt drift of the platform with a sensitivity of 4 μrad/√Hz. As a gyroscope, the atom interferometer along the diagonal axis achieves a sensitivity of 300 μrad/s/√Hz. This work paves the way toward compact, precise and multiaxis atom interferometers for geodesy, geology, or inertial navigation.