Accordingly, can humans feel acceleration?
The feeling of acceleration is really just your inertia acting to impede your acceleration. Actually, you can sense all accelerations. Free fall is no exception. Whenever you accelerate in one direction, you feel a gravity-like sensation pulling you in the opposite direction.
Beside above, are we accelerating as the Earth rotates? Earth's Centripetal Acceleration
A person standing on Earth's equator will experience an additional acceleration of about 0.03 meters per second squared, caused by Earth rotating on its axis. The acceleration caused by Earth revolving around the Sun is considerably less; 0.006 meters per second squared.
Also know, do we feel centrifugal force on earth?
Because the rotation of the earth is very smooth and doesn't change, the centripetal acceleration we feel is very nearly constant. This means that the (small) centrifugal force from the rotation gets added to gravity to make up the "background force" we don't notice.
How do we know the Earth is spinning?
As others have pointed out, you can “see” the spinning of the Earth by watching the stars rotate around a point close to the North Star. The spinning of the Earth also reduces the amount you weigh when you travel to the Equator, due to the centrifugal force of the spin.