Respiratory monitoring is widely used in clinical and healthcare practice to detect abnormal cardiopulmonary function during ordinary and routine activities. There are several approaches to estimate respiratory rate, including accelerometer(s) worn on the torso that are capable of sensing the inclination changes due to breathing. In this article, we present an adaptive band-pass filtering method combined with principal component analysis to derive the respiratory rate from three-dimensional acceleration data, using a body sensor network platform previously developed by us. In situ experiments with 12 subjects indicated that our method was capable of offering dynamic respiration rate estimation during various body activities such as sitting, walking, running, and sleeping. The experimental studies also suggested that our frequency spectrum-based method was more robust, resilient to motion artifact, and therefore outperformed those algorithms primarily based on spatial acceleration information.