A radar sensor for a vehicle may include: a cover configured to transmit electromagnetic waves; a measurement unit disposed at a position facing the cover, and configured to generate the electromagnetic waves to sense an object; a housing having an internal space in which the measurement unit is disposed, and including an open entrance at which the cover is installed; a shield case coupled to the measurement unit, and configured to block the electromagnetic waves generated by the measurement unit such that the electromagnetic waves are discharged to the entrance; and one or more heat conductors disposed between the measurement unit and the shield case and between the shield case and the housing, and configured to conduct heat, generated by the measurement unit, from the shield case to the housing such that the heat is discharged to the outside of the housing.