We used a spectroscopic microwave technique utilizing superconducting stripline resonators at frequencies between 3GHz and 15GHz to examine the charge dynamics of YbRh2Si2 at temperatures and magnetic fields close to the quantum critical point. The different electronic phases of this heavy-fermion compound, in particular the antiferromagnetic, Fermi-liquid, and non-Fermi-liquid regimes, were probed with temperature-dependent microwave measurements between 40 mK and 600 mK at a set of different magnetic fields up to 140 mT. Signatures of phase transitions were observed, which give information about the dynamic response of this peculiar material that exhibits field-tuned quantum criticality and pronounced deviations from Fermi-liquid theory.