In this paper, a novel D-shaped photonic crystal fiber sensor for simultaneous measurements of magnetic field and temperature is proposed and characterized. Based on the surface plasmon resonance theory, the D-shaped flat surface coated with a gold layer is in direct contact with magnetic fluid to detect magnetic field, and one of the relatively small air holes near the fiber core is filled with polydimethylsiloxane (PDMS) to sense temperature. The realization of measuring the magnetic field and temperature separately through two channels depends on the fact that the magnetic field only changes the refractive index of the magnetic fluid, but has no effect on the refractive index of PDMS. The refractive index of the magnetic fluid and PDMS can be affected by temperature at the same time. The sensor designed in this work can separate the variations of the magnetic field and temperature simultaneously, therefore solving the cross-sensitivity problem to further improve the magnetic field sensitivity. When the thickness of the gold film is 50 nm and the radius of the filling hole is 0.52 µm, the magnetic field sensitivity and the temperature sensitivity of magnetic field sensor based on temperature self-reference can reach 0.14274 nm/Oe and −0.229 nm/°C, respectively.