In this letter, we propose an analytical solution for recovering a low-rank positive semi-definite (PSD) matrix from its rank-one measurements. We show that by utilizing a set of structured measurement vectors, we can analytically determine the null space of this low-rank PSD matrix. Based on the result, the PSD matrix can be efficiently recovered. Our analysis shows that the proposed method only requires (N - K)(2K + 1)+ K ² measurements to guarantee exact recovery of the PSD matrix, where N and K respectively denote the dimension and the rank of the PSD matrix. Numerical results show that the proposed method achieves a considerable improvement over existing state-of-the-art methods in terms of both sample complexity and computational efficiency. Specifically, the proposed method helps improve the computational efficiency by an order of magnitude as compared with existing methods.