The growing demand towards life cycle sustainability has created a tremendous interest in non-destructive evaluation (NDE) to minimize manufacturing defects and waste, and to improve maintenance and extend service life. Applications of Magnetic Sensors (MSs) in NDE of civil engineering structures have become of great interest in recent years due to their non-contact data collection, and their high sensitivity under the influence of external stimuli such as strain, temperature, and humidity, to detect damage and deficiencies. There have been several advancements in MSs over the years for strain evaluation, corrosion monitoring, etc. based on the magnetic property changes. However, these MSs are at their nascent stages of development, and thus, there are several challenges that exist. This paper summarizes the recent advancements in MSs and their applications in civil engineering. Principle functions of different MSs are discussed, and their comparative characteristics are presented. The research challenges are highlighted and the roadmap towards high technology readiness level is discussed.