This paper presents a human daily activity classification approach based on the sensory data collected from a single tri-axial accelerometer worn on waist belt. The classification algorithm was realized to distinguish 6 different activities including standing, jumping, sitting-down, walking, running and falling through three major steps: wavelet transformation, Principle Component Analysis (PCA)-based dimensionality reduction and followed by implementing a radial basis function (RBF) kernel Support Vector Machine (SVM) classifier. Two trials were conducted to evaluate different aspects of the classification scheme. In the first trial, the classifier was trained and evaluated by using a dataset of 420 samples collected from seven subjects by using a k-fold cross-validation method. The parameters σ and c of the RBF kernel were optimized through automatic searching in terms of yielding the highest recognition accuracy and robustness. In the second trial, the generation capability of the classifier was also validated by using the dataset collected from six new subjects. The average classification rates of 95% and 93% are obtained in trials 1 and 2, respectively. The results in trial 2 show the system is also good at classifying activity signals of new subjects. It can be concluded that the collective effects of the usage of single accelerometer sensing, the setting of the accelerometer placement and efficient classifier would make this wearable sensing system more realistic and more comfortable to be implemented for long-term human activity monitoring and classification in ambulatory environment, therefore, more acceptable by users.