Glass fiber reinforced polymer (GFRP) composites integrated with sensors have received attention because the composite material can transmit information about the structural condition during operation. This study investigated the crack self-sensing capability of GFRP composites with magnetostrictive Fe–Co fibers under mixed-mode bending. The mixed-mode bending (MMB) test was performed using GFRP composites with a certain number of Fe–Co fibers introduced. Three different mixed-mode I/II ratios for MMB tests were selected and tested. The self-sensing capability of crack propagation was discussed by measuring the magnetic flux density induced by the inverse magnetostrictive effect using Hall probes. The GFRP composites with Fe–Co fibers fabricated in this study are a promising monitoring technology for non-contact sensing.