Nanoscale superconducting quantum interference devices (SQUIDs) demonstrate record sensitivities to small magnetic moments, but are typically sensitive only to the field component that is normal to the plane of the SQUID and out-of-plane with respect to the scanned surface. We report on a nanoscale three-junction Pb SQUID which is fabricated on the apex of a sharp tip. Because of its three-dimensional structure, it exhibits a unique tunable sensitivity to both in-plane and out-of-plane fields. We analyze the two-dimensional interference pattern from both numerical and experimental points of view. This device is integrated into a scanning microscope and its ability to independently measure the different components of the magnetic field with outstanding spin sensitivity better than $5 frac{mu_B}{mathrm{Hz}^{1/2}}$ is demonstrated. This highlights its potential as a local probe of nanoscale magnetic structures.
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