A differential planar microwave resonator permittivity sensor for material characterization is proposed in this paper. The sensor is based on asymmetric terminated cross-shaped resonator (TCSR) to provide multi-band notch frequency characteristics, allowing permittivity measurement of a small dielectric material under test (MUT) with a single resonator. Differential sensing is robust against varying ambient factors that cause frequency variations in the measurements. The dielectric properties of the MUT can be measured from the difference in notch frequencies with the reference material. To illustrate the technique, a tri-band sensor is prototyped using the proposed resonator configuration to measure the permittivity of both solid and liquid samples. The empirical equations for the determination of the MUT permittivity in relation to the notch frequencies have been derived. The sensor operates at 0.97, 1.69, and 2.91 GHz with an average sensitivity of 1.18, 4.45, and 1.22 MHz, respectively. The measured results are in a good agreement with the theoretical analysis.