Orientations and positions of a permanent magnet can be acquired via a three-axis magnetic sensor array system. Thus, the position and orientation of an object embedded with the permanent magnet can be tracked in real-time. This magnet tracking system can be adapted to medical and industrial applications. How to detect the weak magnetic signal and the sensor fusion algorithm are vitally important for the accuracy performance of the tracking system. In this study, we present a novel magnet tracking system based on nine three-axis digital magnetic sensors, instead of analog output, with the valid tracking space of 0.5mX0.5mX0.2m. Before calibration, the system achieved average localization error at 6.62mm and 2.98°. This system has the advantages such as low power consumption, portable, and convenient configuration via a SPI bus.