The invention relates to a single-chip bridge-type magnetic field sensor which comprises a substrate, reference arms, sensing arms, shielding structures and bonding pads, wherein each reference arm and each sensing arm are respectively provided with at least two rows / lines of reference element strands and sensing element strands, each reference element strand and each sensing element strand are formed by one or multiple identical magneto-resistor sensing elements which are electronically connected, the reference element strands and the sensing element strands are arranged and placed in a staggered mode, each magneto-resistor sensing element is one kind of sensing elements selected from AMR, GMR or TMR, each shielding structure is corresponding arranged on each reference element strand, one sensing element strand is located at the interval position between two shielding structures, and one shielding structure is a long-strip-shaped array which is made of soft magnetic materials permalloy. The single-chip bridge-type magnetic field sensor can be achieved in three bridge structures such as quasi bridge, half bridge and full bridge. The single-chip bridge-type magnetic field sensor has the advantages of being small in size, low in cost, small in offset, high in sensitivity, and good in linearity and temperature stability.