Determination and control of nitrogen-vacancy (NV) centers play an important role in sensing the vector field by using their quantum information. To measure orientation of NV centers in a diamond particle attached to a tapered fiber rapidly, we propose a new method to establish the direction cosine matrix between the lab frame and the NV body frame. In this method, only four groups of the ODMR spectrum peaks shift data need to be collected, and the magnetic field along ± Z and ± Y in the lab frame is applied in the meantime. We can also control any NV axis to rotate to the X, Y, Z axes in the lab frame according to the elements of this matrix. The demonstration of the DC and microwave magnetic field vector sensing is presented. Finally, the proposed method can help us to perform vector magnetic field sensing more conveniently and rapidly.