The nitrogen-vacancy (NV) color center in diamond has found applications in magnetometry across various geometrical scales. In particular, vector magnetometry using hand-held devices with low power consumption is of interest for mobile and geological applications. However, such a device requires efficient driving of the four different orientations of the NV center, thus placing demands on a broadband microwave resonator that provides a uniform and highly insensitive microwave magnetic field at the resonance frequencies of the NV centers. Here, we propose a unique planar resonator design that enables efficient driving of all four orientations of NV color centers over a 100 MHz range with only 0.5 W of microwave input power and 250 mW of laser power, allowing vector magnetic field measurements. Using the planar resonator to drive NV centers in diamond, a compact vector magnetometer was fabricated and experimentally studied. The sensitivity of the device is about 1.2 nT/√Hz . While this is not a record sensitivity for diamond-based magnetometers, this device occupies its own niche as a compact hand-held magnetometer.