Compact atomic magnetometer has become an important approach for noise measurement of magnetic shielding systems as well as biomagnetic measurement. In this study, we propose a novel method that enables time-shard triaxial magnetic field measurements in near-zero magnetic field through a compact high-performance atomic magnetometer with femtotesla sensitivity. With pump–probe orthogonal configuration, the magnetometer can be operated without optical and magnetic modulation. The y -axis magnetic field measurement was realized in zero field, whereas the x - and z - axes magnetic fields were measured by the cross-application of the bias magnetic fields operating in near-zero field. The maximum response amplitude and sensitivity with bandwidths of 46.8 Hz ( x - axis), 10.5 Hz ( y -axis), and 10.9 Hz ( z -axis) are achieved under bias magnetic fields of

$B_{z-\mathrm {offset}}= 8$

nT and

$B_{x-\mathrm {offset}} = 2$

nT. The bandwidth along x - axis was extended to 232 Hz under

$B_{z-\mathrm {offset}} = 32$

nT, which can further be improved by increasing

$B_{z-\mathrm {offset}}$

. The linear interval of measurable magnetic field are between −11.7 to +11.7 nT ( x - axis), −0.8 to +0.8 nT ( y -axis), and −28.2 to +28.2 nT ( z -axis). For x - and z -axes, the measurable interval can further be improved by increasing

$B_{z-\mathrm {offset}}$

and

$B_{x-\mathrm {offset}}$

, respectively. The triaxial sensitivities achieved through our method reached 3.1 ± 0.3 fT/Hz ^1/2 ( x - axis), 2.0 ± 0.1 fT/Hz ^1/2 ( y - axis), and 6.0 ± 0.5 fT/Hz ^1/2 ( z - axis). This system is measured in a low-noise ferrite magnetic shield to ensure extra-low magnetic noise condition. Furthermore, the non-modulation triaxial vector operation demonstrated in this study is advantageous for reducing interference and spin-exchange relaxation caused by magnetic field modulation.

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