Gradiometry provides a versatile alternative to passive environmental shielding in quasi-static magnetometry, effectively suppressing background noise through differential signal extraction. Nevertheless, traditional implementations rely on multi-sensor architectures restricted to spatial gradients, where subtracting signals from independent detectors involves imperfect suppression of common-mode noise and artifacts, limiting their sensitivity. To overcome these limitations, we introduce a quantum control sequence that enables intrinsic temporal and spatial vectorial gradiometry of magnetic fields using a single quantum sensor. Our method provides direct access to first and higher-order derivatives of the magnetic field and extended applicability via auxiliary nuclear spin memory. We showcase this protocol on an ensemble of nitrogen-vacancy (NV) centers in diamond and combine it with mechanical control to realize high-precision differential sensing. Through detailed numerical simulations, we demonstrate the performance of our scheme in two critical DC magnetometry applications: (i) vector magnetic anomaly detection and (ii) non-invasive gradiometry of neuronal action potentials.