Strain-mediated magnetoelectric effect can be utilized as an energy-efficient approach for spin manipulation. However, over 90° magnetization rotation is still challenging in un-patterned magnetic films, as the piezo-strain driven by ferroelectric domain switching is generally uniaxial rather than unidirectional, which limits the developments of non-volatile magnetic memory and logic devices. Here we demonstrate the rotation of local magnetization with a large angle of 136° by applying strains with a shear component at a fixed magnetic field of 45 Oe in FeCoSiB/PMN-PT (011) multiferroic heterostructures, revealed by a vector-resolved quantitative magneto-optical Kerr effect (MOKE) microscopy. Phase-field simulations confirm that the approximate 140° rotation of magnetization vectors is a consequence of the shear strain associated with ferroelectric/ferroelastic switching of PMN-PT (011) substrates. The visualization of over 90° magnetization rotation induced by the strain with a shear component paves the way for deterministic magnetization switching that has important implications in the energy-efficient spintronic devices.