We report a demonstration of two-dimensional (2D) terahertz (THz) magnetic resonance spectroscopy using the magnetic fields of two time-delayed THz pulses. We apply the methodology to directly reveal the nonlinear responses of collective spin waves (magnons) in a canted antiferromagnetic crystal. The 2D THz spectra show all of the third-order nonlinear magnon signals including magnon spin echoes, and 2-quantum signals that reveal pairwise correlations between magnons at the Brillouin zone center. We also observe second-order nonlinear magnon signals showing resonance-enhanced second-harmonic and difference-frequency generation. Numerical simulations of the spin dynamics reproduce all of the spectral features in excellent agreement with the experimental 2D THz spectra. DOI: 10.1103/PhysRevLett.118.207204 Nonlinear manipulation of spins is the basis for all advanced methods in magnetic resonance including multidimensional nuclear magnetic resonance and electron spin resonance (ESR) spectroscopies [1,2], magnetic resonance imaging, and, in recent years, quantum control over individual spins [3]. The methodology is facilitated by the ease with which the regime of strong coupling can be reached between radio frequency or microwave magnetic fields and nuclear or electron spins, respectively, typified by sequences of magnetic pulses that control the magnetic moment directions [1][2][3]. The capabilities meet a bottleneck, however, for far-infrared magnetic resonances characteristic of correlated electron materials, molecular magnets, and metalloproteins.ESR in the terahertz (THz) frequency region can reveal rich information content in chemistry, biology, and materials science [1,2,[4][5][6][7]. In molecular complexes and metalloproteins, THz-frequency zero-field splittings (ZFS) of high-spin transition-metal and rare-earth ions show exquisite sensitivity to ligand geometries, providing mechanistic insight into molecular magnetic properties [4] and protein catalytic function [5]. With strong applied magnetic fields (∼10 T), resonances of unpaired electron spins in molecular complexes can be shifted from the usual microwave regime into the THz range, drastically improving the resolution due to enhanced spectral splittings [2,6,7]. In many ferromagnetic (FM) and antiferromagnetic (AFM) materials, intrinsic magnetic fields in the same range put collective spin waves (magnons) in the THz range. Current ESR spectroscopy remains limited at THz frequencies because the weak sources used only permit measurements of free-induction decay (FID) signals that are linearly proportional to the excitation magnetic field strength. In some cases, including most proteins, even linear THz-frequency ESR signals may not be measurable because the THz spectrum includes much stronger absorption features due to low-frequency motions of polar segments [8]. However, the fast dephasing of such motions ensures that they would not compete with nonlinear spin echo signals [9]. Two-dimensional (2D) THz ESR spectroscopy, like 2D ESR at lower frequenci...