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We theoretically and experimentally demonstrated an optical fiber magnetic field sensor based on a single-mode-multimode-single-mode (SMS) structure immersed into the magnetic fluid (MF). The length of multimode section fiber is determined based on the self-image effect through the simulation. Due to variation characteristics of the refractive index and absorption coefficient of MF under different magnetic fields, an effective method to improve the sensitivity of SMS fiber structure is realized based on the intensity modulation method. This sensor shows a high sensitivity up to 0.097\u2009dB\/Oe and a high modulation depth up to 78% in a relatively linear range, for the no-core fiber (NCF) with the diameter of 125\u2009<jats:italic>\u03bc<\/jats:italic>m and length of 59.8\u2009mm as the multimode section. 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