A magnetic sensor includes first, second, and third detection units for detecting components in X, Y, and Z directions of an external magnetic field. The third detection unit includes a soft magnetic structure. The first detection unit includes a first portion and a second portion. The second detection unit includes a third portion and a fourth portion. The first portion and the fourth portion are located on opposite sides of the third detection unit in the X direction. The second portion and the third portion are located on opposite sides of the third detection unit in the Y direction.