We propose a Sagnac interferometric sensor for simultaneous strain, temperature, and torsion measurement based on a polarization-maintaining fiber (PMF). The Sagnac sensor consists of a single-mode fiber (SMF), PMF and SMF spliced sequentially to form an SMF-PMF-SMF structure. The designed Sagnac interferometric sensor exhibits different wavelength shifts for strain, temperature and torsion measurements. Therefore, we observed three selected dips in the interferogram and measured strain, temperature and torsion simultaneously by their wavelength shifts. The maximum sensitivity of the sensor to strain, temperature, and torsion were experimentally measured to be 28.9 pm/µε. (10-12 m), −1.7504 nm/°C, and −1.0964 nm/(rad/m), and the measurement ranges were 0∼720 με, 25 °C–39 °C, and −7.679 rad/m∼4.887 rad/m (−110°–70°), respectively. In the subsequent experiments, we also verified the feasibility of the sensor for simultaneous measurements, and the errors of the results obtained were less than 10%. And we have successfully increased the temperature measurement range to 25°C∼85°C by cascading FBG in the original structure. The designed sensor has the advantages of easy fabrication, high sensitivity, and bi-directional torsional measurement, which have a wide range of applications in the fields of structural health detection, industrial control, and aircraft attitude recognition.