Nitrogen-vacancy (NV) centers in diamond have been promising candidate for realizing next-generation quantum sensors. In this study, we propose and demonstrate “the multi-frequency microwave(MW)-controlled quantum sensing technique” where electronic spin states of NV centers with different electronic spin resonance frequencies are individually and simultaneously manipulated using multi-frequency MWs. As a result, it is found that the multi-frequency MW-controlled quantum sensing technique enables us to improve the measurement sensitivities of vector magnetic field and temperature. This result clearly shows that the multi-frequency MW-controlled quantum sensing technique contributes to the development of quantum sensors using NV centers, because this technique is applicable to various type of pulse sequences for quantum sensing.