Monitoring of vibration frequencies and forces in cables and suspension rods of bridges is crucial. In order to achieve high-precision and bidirectional low-frequency monitoring of cable force and suspension rod, in this work, a thin rod cantilever beam type FBG vibration sensor was developed for bidirectional monitoring based on theory, experiment, and finite element simulation. Firstly, elastic structure of the thin rod was analyzed, and the structural parameters of the sensor were optimized based on theoretical analysis and finite element simulation. Then, the frequency and sensitivity of the sensor were tested. The obtained test results showed that the resonant frequency of the sensor in the x/y direction was 48 Hz, sensitivity was 90.5/102.3 pm/g, and error in frequency was less than 2 %. Furthermore, the force in the cable measured by the sensor was verified through indoor tension tests. The test results showed that the maximum error in the force measured in the cable was 0.86 % relative to the actual tension in the cable, indicating high measuring accuracy of the developed sensor. Finally, the sensor was applied to monitor forces in actual engineering cables, where an error of 4.21 % was noticed, which further validated the accuracy and applicability of the sensor. The research results of the present would provide guidance for improving the ability of the bidirectional low-frequency FBG vibration sensors to measure low-frequency random vibrations.