Emergent Majorana fermions on surfaces of time-reversal invariant topological superconductors host electromagnetic structures and realize unique electromagnetic responses. In this paper, we develop a general theory of electric and magnetic responses of the surface Majorana fermions on time-reversal invariant superconductors, on the basis of topological classification and the group theory. In particular, we provide a classification of possible electromagnetic responses of the emergent Majorana fermions arising from the interplay between topology and crystalline symmetry. It is found that the emergent Majorana fermions host magnetic structures with dipole or octupole order, and the magnetic response of a single Majorana Kramers pair directly links to Cooper pair symmetry: the magnetic structure and the Cooper pairs have a common irreducible representation under crystalline symmetry. This result provides a new perspective for the identification of unconventional Cooper pairings in topological superconductors through surface-spin-sensitive measurements. We also identify a set of crystalline symmetries without magnetic dipole response, which leads to a magnetic octupole response as the leading contribution. Such a magnetic octupole response provides a unique indication of exotic topological superconductors like topological superconductors associated with J = 3/2 electrons or nonsymmorphic symmetry. We also clarify that multiple Kramers pairs give an electric response.