Topological spin structures such as magnetic domain walls, vortices, and skyrmions, have been receiving great interest because of their high potential application in various spintronic devices. To utilize them in the future spintronic devices, it is first necessary to understand the dynamics of the topological spin structures. Since inertial effect plays a crucial role in the dynamics of a particle, understanding the inertial effect of topological spin structures is an important task. Here, we report that a strong inertial effect appears steadily when a skyrmion is driven by an oscillating spin-Hall-spintorque (SHST). We find that the skyrmion exhibits an inertia-driven hypocycloid-type trajectory when it is excited by the oscillating SHST. This motion has not been achieved by an oscillating magnetic field, which only excites the breathing mode without the inertial effect. The distinct inertial effect can be explained in terms of a spin wave excitation in the skyrmion boundary which is induced by the non-uniform SHST. Furthermore, the inertia-driven resonant excitation provides a way of experimentally estimating the inertial mass of the skyrmion. Our results therefore pave the way for the development of skyrmion-based device applications.