A connector for a fall protection compliance system includes a frame having an opening and a connection area configured for receiving a connection structure therein and a connection sensor assembly associated with the frame. The connection sensor assembly includes at least one permanent magnet configured for generating a magnetic field within at least a portion of the connection area, at least one magnetometer configured for detecting a presence or an absence of a disturbance in the magnetic field, and a control device having at least one processor programmed or configured to receive connection data from the at least one magnetometer, determine a connection status of the connector based on detecting the presence or the absence of the disturbance in the magnetic field, and perform at least one action based on the connection status. A method for detecting connection of a connector to a connection structure is also disclosed.