This paper presents an experimental and numerical characterization of a piezoelectric d(36) shear-based torsion actuator made of xPb(Mg1/3Nb2/3)O-3-(1-x)PbTiO3 (PMN-PT) single crystals embedded between Polydimethylsiloxane (PDMS) layers. The generated rate of twist value of the piezoelectric d(36)-mode PMN-PT single crystal composite torsion actuator was obtained using a laser vibrometer from the maximum detected transverse deflection measurement. The quasi-static torsion actuation experiments were conducted on the piezoelectric d(36) torsion actuator by applying different AC voltages at 1 Hz. The experimental benchmark was further modelled by Finite Element (FE) code ABAQUS (R) using three dimensional (3D) piezoelectric finite elements. The experimental results and Finite Element computations showed good agreement. Findings reveal that more rate of twist is produced by PMN-PT single crystals in comparison to piezoceramic alternatives. This piezoelectric PMN-PT d(36)-mode composite torsion actuator can be effectively used in torsional deformation control.