Tension members are key members that maintain stability and improve the strength of structures such as cable-stayed bridges, PSC structures, and slopes. Their application has recently been expanded to new fields such as mooring lines in subsea structures and aerospace fields. However, the tensile strength of the tension members can be abnormal owing to various risk factors that may lead to the collapse of the entire structure. Therefore, continuous tension monitoring is necessary to ensure structural safety. In this study, an improved elasto-magnetic (E/M) sensor was used to monitor tension force using a nondestructive method. General E/M sensors have limitations that make it difficult to apply them to operating tension members owing to their solenoid structure, which requires field winding. To overcome this problem, the magnetization part of the E/M sensor was improved to a yoke-type sensor, which was used in this study. For the development of the sensors, the numerical design and magnetization performance verification of the sensor were performed through eddy current solution-type simulations using ANSYS Maxwell. Using the manufactured yoke-type E/M sensor, the induced voltage signals according to the tension force of the specimen increasing from 0 to 10 tons at 1-ton intervals were repeatedly measured using DAQ with wireless communication. The measured signals were indexed using peak-to-peak value of induced voltages and used to analyze the signal change patterns as the tension increased. Finally, the analyzed results were compared with those of a solenoid-type E/M sensor to confirm the same pattern. Therefore, it was confirmed that the tension force of a tension member can be estimated using the proposed yoke-type E/M sensor. This is expected to become an effective tension monitoring technology through performance optimization and usability verification studies for each target tension member in the future.