In this paper, we investigate the inflationary phenomenology of parity-violating (PV) extensions of symmetric teleparallel gravity by applying this PV gravity theory to axion inflation. The presence of PV terms induces velocity birefringence in the tensor perturbations. During inflation, when the inflaton rapidly traverses the clifflike region in its potential, the tensor modes at specific scales for one of the two circular polarization states undergo significant amplification due to tachyonic instability. Consequently, the resulting primordial gravitational waves (GWs), characterized by a one-handed polarization and a multipeak structure in their energy spectrum, exhibit a significant amplitude potentially detectable by LISA and Taiji, and their chirality could be determined by the LISA-Taiji network. The detection of such a chiral GW signal provides an opportunity to probe inflation and PV gravity theory. Moreover, we perform the Fisher matrix analysis to forecast the constraints on the model parameters with the LISA-Taiji network.