Radio frequency sensors are an important means for electromagnetic situation awareness, where the radio frequency signals are detected and analyzed to provide the necessary data support for electromagnetic situation awareness. In view of the problems with existing radio frequency sensors such as incompleteness and poor integration of acquired information, on the basis of a distributed architecture and proceeding from multiple domains such as time, frequency, space, and energy, a distributed multi-domain radio frequency sensor for electromagnetic situation awareness was designed for multi-domain collaborative detection of radio frequency signals, thereby providing an important reference for analyzing and evaluating the electromagnetic situation on the battlefields. First, the hardware scheme of the sensor was designed based on the Zynq multi-processor (ZynqMP) and the ADRV9009 radio frequency transceiver chip, followed by the physical production and testing of the system. Then, corresponding extraction algorithms were designed for the key characteristic indexes in the domains of time, frequency, space, and energy. Finally, the corresponding internal and external field experiments were designed for comparison and test of the functions and performance. The results of actual experiments show that the error of the number of oscillations of the waveform obtained by the sensor in the time domain is less than 1.92%, the measurement error of the signal bandwidth and center frequency in the frequency domain is less than 3.2% and 0.04%, respectively, the error of energy calculation in the energy domain is less than 5.6% ; and the measurement error of direction-of-arrival angle in the space domain is less than 2.7%. Therefore, the expectations of the design have been met.