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In recent years, the development of airborne magnetic survey technology based on unmanned aerial vehicles (UAVs) has been rapidly advancing. The commonly used systems are the fixed-wing UAV-based, multi-rotors UAV-based, and unmanned helicopters-based magnetic survey systems. And, a type of hybrid UAV that uses a vertical takeoff and landing (VTOL) and fixed-wing cruise mode is increasingly being used to carry airborne magnetic survey systems. To meet the requirements of most UAVs for small-sized and lightweight payloads, a miniature magnetic survey system was developed and integrated into a hybrid fixed-wing UAV and formed an aeromagnetic survey system. And, a peripheral mineral exploration test was conducted in a known porphyry copper–gold deposit in southeastern China using the system. By processing the collected magnetic data with 3D inversion of susceptibilities, potential ore-bearing intrusive rocks were quickly identified and delineated, providing clues for peripheral mineral exploration in the mining area.