We propose and demonstrate a radio-frequency atomic magnetometer with sub-Doppler laser cooled rubidium-87. With a simple and compact design, our system demonstrates a sensitivity of 330 pT/ √ Hz in an unshielded environment, thus matching or surpassing previously reported cold atoms designs. By merging the multiple uses and robustness of radio-frequency atomic magnetometers with the detailed control of laser cooling, our cold atom radio-frequency magnetometer has the potential to move applications of atomic magnetometry to high spatial resolution. Direct impact in metrology for applied sciences, materials characterization, and nanotechnology can be anticipated.