Dynamical decoupling (DD) is normally ineffective when applied to DC measurement. In its straightforward implementation, DD nulls out DC signal as well while suppressing noise. This work proposes a phase relay method that is capable of continuously interrogating the DC signal over many DD cycles. We illustrate its efficacy when applied to measurement of a weak DC magnetic field with an atomic spinor Bose-Einstein condensate. Sensitivities approaching standard quantum limit or Heisenberg limit are potentially realizable for a coherent spin state or a squeezed spin state of 10,000 atoms respectively, while ambient laboratory level noise is suppressed by DD. Our work offers a practical approach to mitigate the limitations of DD to DC measurement and will like find other applications for resorting coherence in quantum sensing and quantum information processing research.