Presently used magnetic target location methods are greatly affected by geomagnetism and involve complex solution processes. To address these problems, herein, a linear location method based on the two-point magnetic gradient full tensor is proposed. Moreover, the principle of single-point magnetic gradient full tensor positioning is analyzed in detail. Based on this principle, a two-point magnetic gradient full tensor location model is constructed. A linear location method is proposed. Measuring the magnetic gradient full tensor at two locations and using a linear method for the calculation of the positioning model, a more precise location of the magnetic target is achieved. The simulation results show that the proposed method significantly reduces the relative error percentages in the three magnet field directions, with the minimum value being 0.0021% in the X-direction. The maximum X-direction error of the proposed method is reduced by 18.66% compared with that of the single-point magnetic gradient full tensor positioning method. In addition, the positioning accuracy of the method is experimentally verified. The Z-direction error value is reduced to 5.48%.