Quantum measurement unavoidably disturbs the state of a quantum system if any information about the system is extracted. Recently, the concept of reversing quantum measurement has been introduced and has attracted much attention. Numerous efforts have thus been devoted to understanding the fundamental relation of the amount of information obtained by measurement to either state disturbance or reversibility. Here, we experimentally prove the trade-off relations in quantum measurement with respect to both state disturbance and reversibility. By demonstrating the quantitative bound of the trade-off relations, we realize an optimal measurement for estimating quantum systems with minimum disturbance and maximum reversibility. Our results offer fundamental insights on quantum measurement and practical guidelines for implementing various quantum information protocols.