UNITED STATES

SECURITIES AND EXCHANGE COMMISSION

Washington, D.C. 20549

SCHEDULE 13G/A

Under the Securities Exchange Act of 1934

(Amendment No. 4)*

InvenSense, Inc.

(Name of Issuer)

Common Stock

(Title of Class of Securities)

46123D 20 5

(CUSIP Number)

December 31, 2015

(Date of Event Which Requires Filing of this Statement)

Check the appropriate box to designate the rule pursuant to which this Schedule is filed:

¨ Rule 13d-1(b)

¨ Rule 13d-1(c)

x Rule 13d-1(d)

The information required in the remainder of this cover page shall not be deemed to be “filed” for the purpose of Section 18 of the Securities Exchange Act of 1934 (“Act”) or otherwise subject to the liabilities of that section of the Act but shall be subject to all other provisions of the Act (however, see the Notes).

InvenSense, Inc.

1745 Technology Dr.

San Jose, CA 95110

Artiman Ventures, L.P. (“AVLP”)

Artiman, L.L.C. (“Artiman”)

Amit Shah

Yatin Mundkur

The address of AVLP, Artiman, Amit Shah, and Yatin Mundkur is:

2000 University Avenue, Suite 602

East Palo Alto, CA 94303

AVLP – California limited partnership

Artiman – Delaware limited liability company

Amit Shah – United States of America

Yatin Mundkur – United States of America

Common Stock, par value $0.001 per share (the “Common Stock”), of InvenSense, Inc.

46123D205

Not Applicable.

Provide the following information regarding the aggregate number and percentage of the class of securities of the issuer identified in Item 1.

As of December 31, 2015 (i) AVLP was the record holder of 7,013,170 shares of Common Stock (the “AVLP Shares”); (ii) Artiman Ventures Side Fund, L.P. (“AVSF”) was the record holder of 44,608 shares of Common Stock (the “AVSF Shares”); (iii) Artiman Ventures Side Fund II, L.P. (“AVSFII”) was the record holder of 91,691 shares of Common Stock (the “AVSFII Shares” and, together with the AVLP Shares and the AVSF Shares, the “Artiman Shares”); (iv) Artiman L.L.C. was the record holder of 15,497 shares of Common Stock; (v) Artiman Management, L.L.C. (“Artiman Management”) was the record holder of 16,667 shares of Common Stock (the “Management Shares”); (vi) Baca, L.P. was the record holder of 19,943 shares of Common Stock (the “Baca Shares”); and (vii) Amit Shah was the record holder of vested restricted stock units of 8,408 shares of Common Stock and options to purchase 46,667 shares exercisable within 60 days of December 31, 2015.

Artiman, L.L.C., the general partner of AVLP, AVSF and AVSFII, may be deemed to beneficially own the Artiman Shares, but disclaims beneficial ownership of the Artiman Shares except to the extent of any pecuniary interest therein. Amit Shah and Yatin Mundkur, as (i) Managing Members of Artiman, L.L.C., the general partner of AVLP, AVSF and AVSFII, and (ii) Managing Members of Artiman Management, may be deemed to beneficially own (a) the Artiman Shares and the shares held by Artiman L.L.C. and (b) the Management Shares, respectively, but disclaims beneficial ownership of such shares except to the extent of any pecuniary interest therein.

Amit Shah, the general partner of Baca, L.P., may be deemed to beneficially own the Baca Shares, but disclaims beneficial ownership of the securities except to the extent of his pecuniary interest therein.

The Reporting Persons may be deemed to constitute a “group” for purposes of Section 13(d)(3) of the Act. Pursuant to Rule 13d-4 of the Act, the Reporting Persons expressly declare that the filing of this Statement shall not be construed as an admission that any such person is, for the purposes of Section 13(d) and/or Section 13(g) of the Act or otherwise, the beneficial owner of any securities covered by this Statement held by any other person. The Reporting Persons expressly disclaim that they have agreed to act as a group other than as described in this Statement.

7.6% Artiman Ventures, L.P.

7.8% Artiman, L.L.C.

7.9% Amit Shah

7.8% Yatin Mundkur

The ownership percentages above are based on an aggregate of 92,098,075 share of Common Stock, including (i) 92,043,000 shares outstanding as of October 16, 2015, as reported in the Issuer’s 10-Q, dated October 29, 2015, filed with the Securities and Exchange Commission on October 29, 2015, (ii) 8,408 vested restricted stock units and (iii) 46,667 shares subject to options exercisable within 60 days of December 31, 2015.

If this statement is being filed to report the fact that as of the date hereof the reporting person has ceased to be the beneficial owner of more than five percent of the class of securities, check the following  ¨.

See 4(a) and 4(b) above.

Not Applicable.

Not Applicable.

Not Applicable.

Not applicable.

Signature

After reasonable inquiry and to the best of my knowledge and belief, I certify that the information set forth in this statement is true, complete and correct.

DATED: February 1, 2016.

ATTENTION

Intentional misstatements or omissions of fact constitute Federal Criminal Violations (See 18 U.S.C. 1001).

Exhibit I

JOINT FILING AGREEMENT

Pursuant to Rule 13d-1(k)(1) under the Securities Exchange Act of 1934, as amended, the undersigned hereby agree that only one statement containing the information required by Schedule 13G need be filed with respect to the ownership by each of the undersigned of the shares of Common Stock of InvenSense, Inc.

This Agreement may be executed in any number of counterparts, each of which shall be deemed an original.

DATED: February 1, 2016.