A three-dimensional planar magnetic sensor comprises a first magnetic sensor, a second magnetic sensor, a third magnetic sensor and a circuit. The first magnetic sensor, the second magnetic sensor and the third magnetic sensor are arrange on the same plane and respectively measure component of a magnetic field in the first, second and third directions, and the third direction is perpendicular to the first direction and the second direction. The third magnetic sensor comprises a third fixed layer, a third magnetic insulation layer and a third free layer, wherein the magnetization direction of the third fixed layer is the third direction or the reverse direction, the spontaneous magnetization of the third free layer is the first direction and the second direction or inclines to the third direction by 0-180 degrees, the magnetic resistance value is an intermediate value in the spontaneous magnetization direction and changes along with the magnetic field. The three-dimensional planar magnetic sensor is manufactured by the semiconductor processing technology without vertical binding, output and durability are improved, and cost and time are saved.