A low-loss all-straight optical fiber vector magnetic field sensor (OFVMS) based on magnetic fluid (MF) is designed and proposed. The sensing structure is composed of a Section of the C-type optical fiber (CTF) embedded in a pair of multi-mode optical fibers (MMF) and wrapped in a capillary with MF. The asymmetry of the CTF provides support for the vector magnetic field measurement whose direction is perpendicular to the optical transmission direction. According to the results of experiments, it can be obtained that the refractive index (RI) sensitivity of the sensing structure is as high as −15716.6072 nm/RIU. In addition, the intensity sensitivity of the OFVMS in the calibrated 90° direction can reach 202.23 pm/G between 0 and 123 G. At the same time, the transmission loss of the proposed sensor structure is not increased by the filling of MF. The sensor demonstrated has dominance in low cost, easy manufacture, and lower loss compared with the same type of sensor device, which has application prospects in vector magnetic field sensing.