A three-dimensional magnetic field detection device, comprising magnetic field detecting elements (3, 12, 13, 14) configured to detect a magnetic field in a direction parallel to a face of a substrate and soft magnetic bodies (21, 22) configured to collect and radiate a magnetic field orthogonal to the face of the substrate, wherein: an axis extending in a first axial direction on the face of the substrate, an axis extending in a second axial direction orthogonal to the first axial direction, and an axis extending in a third axial direction orthogonal to the face of the substrate cross one another at an origin as a center of measurement of the magnetic field on the face of the substrate; the magnetic field detecting elements (3, 12, 13, 14) are so arranged on the substrate that two x-axial elements (12, 13) of the magnetic field detecting elements (3, 12, 13, 14) are positioned along a same line (A-A') in the first axial direction point-symmetrically with respect to the origin set as a center of symmetry and one y-axial element of the magnetic field detecting elements (3, 12, 13, 14) is positioned in the second axial direction; the soft magnetic bodies (21, 22) are a soft magnetic body positioned above the origin and two soft magnetic bodies positioned below ends of the two x-axial elements (12, 13) of the magnetic field detecting elements (3, 12, 13, 14) positioned in the first axial direction, which ends are each opposite to the origin; and a magnetic circuit including the two x-axial elements (12, 13) of the magnetic field detecting elements (3, 12, 13, 14) and three of the soft magnetic bodies (21, 22) is formed in the first axial direction, characterised in that the one y-axial element of the magnetic field detecting elements (3, 12, 13, 14) is positioned in the second axial direction point-symmetrically with respect to the origin as the center of symmetry. an axis extending in a first axial direction on the face of the substrate, an axis extending in a second axial direction orthogonal to the first axial direction, and an axis extending in a third axial direction orthogonal to the face of the substrate cross one another at an origin as a center of measurement of the magnetic field on the face of the substrate; the magnetic field detecting elements (3, 12, 13, 14) are so arranged on the substrate that two x-axial elements (12, 13) of the magnetic field detecting elements (3, 12, 13, 14) are positioned along a same line (A-A') in the first axial direction point-symmetrically with respect to the origin set as a center of symmetry and one y-axial element of the magnetic field detecting elements (3, 12, 13, 14) is positioned in the second axial direction; the soft magnetic bodies (21, 22) are a soft magnetic body positioned above the origin and two soft magnetic bodies positioned below ends of the two x-axial elements (12, 13) of the magnetic field detecting elements (3, 12, 13, 14) positioned in the first axial direction, which ends are each opposite to the origin; and a magnetic circuit including the two x-axial elements (12, 13) of the magnetic field detecting elements (3, 12, 13, 14) and three of the soft magnetic bodies (21, 22) is formed in the first axial direction, characterised in that the one y-axial element of the magnetic field detecting elements (3, 12, 13, 14) is positioned in the second axial direction point-symmetrically with respect to the origin as the center of symmetry.