A magnetic sensor includes a plurality of magnetoresistive elements that are formed by stacking a magnetic layer and a non-magnetic layer on a substrate and that exhibit a magnetoresistive effect and a soft magnetic member that converts a vertical magnetic field component into a horizontal magnetic field component. The soft magnetic member is formed of a plurality of first and second soft magnetic portions respectively extending in an X1-X2 direction and a Y1-Y2 direction, combined together in the shape of a lattice. The magnetoresistive elements have a sensitivity direction in the Y2 direction and include a magnetoresistive element located on a Y1 side portion side of the first soft magnetic portion and a magnetoresistive element located on a Y2 side portion side of the first soft magnetic portion, respectively receiving horizontal magnetic field components from the Y1 direction and Y2 direction.