The paper presents the issue related to experimental research on the determination of static and dynamic properties of miniature electrical machines. The tested objects are, for example, micromotors with body diameters in the order of single millimetres, or linear drives with millimetre dimensions. The main measurement problems were presented and the specificity of these measurements was characterized. First of all, electromechanical time constants have small values due to small values of masses or mass moments of inertia. The force quantities (forces and torques) generated by such actuators also require the use of unconventional measuring transducers. The research may concern the identification of static and dynamic characteristics, but also methods of dynamic measurement of the quantities used in the control of such micromachines are presented. Attention has been paid to the so-called sensorless methods that allow the use of measurements of electrical quantities in order to determine the values of mechanical quantities. Practical examples of original measurement methods and systems are presented.