The Imaging X-ray Polarimetry Explorer measured with high significance the X-ray polarization of the brightest Z-source, Sco X-1, resulting in the nominal 2–8 keV energy band in a polarization degree of 1.0% ± 0.2% and a polarization angle of 8° ± 6° at a 90% confidence level. This observation was strictly simultaneous with observations performed by NICER, NuSTAR, and Insight-HXMT, which allowed for a precise characterization of its broadband spectrum from soft to hard X-rays. The source has been observed mainly in its soft state, with short periods of flaring. We also observed low-frequency quasiperiodic oscillations. From a spectropolarimetric analysis, we associate a polarization to the accretion disk at <3.2% at 90% confidence level, compatible with expectations for an electron scattering dominated optically thick atmosphere at the Sco X-1 inclination of ∼44°; for the higher-energy Comptonized component, we obtain a polarization of 1.3% ± 0.4%, in agreement with expectations for a slab of Thomson optical depth of ∼7 and an electron temperature of ∼3 keV. A polarization rotation with respect to previous observations by OSO-8 and PolarLight, and also with respect to the radio-jet position angle, is observed. This result may indicate a variation of the polarization with the source state that can be related to relativistic precession or a change in the corona geometry with the accretion flow.