Abstract: The existing monitoring and early-warning methods of transmission tower tilting in goafs have the shortcomings of weak real-time monitoring, low accuracy, and affected by a single parameter. Aiming at this problem, a tilt monitoring and early warning method for transmission towers in mined-out areas based on magnetic field sensing and Beidou positioning is proposed. First, a magnetic field sensing model of a transmission tower in a goaf is established, and the magnetic flux density of the transmission line is calculated. Then, combined with Beidou satellite positioning technology, based on the two-factor hierarchical superposition method, the tower’s tilting danger level is determined while monitoring the operating status of the tower. Finally, the calculation results of the three kinds of fault situations show that compared with the traditional method of relying on a single method for the monitoring and early warning of transmission tower conditions, the accuracy of the proposed method has increased by an average of 8.66% or more, and the reaction speed of faults has increased on average. It is more than 38.01%, which verifies the effectiveness and superiority of the proposed method.