By assembling 140 nm-sized fluorescent nanodiamonds (FNDs) in a thin-film on (3-aminopropyl) triethoxysilane functionalized glass surface, we prepare magnetically-sensitive FND-fiber probes for endoscopy. The obtained FND layers show good uniformity over large surfaces and are characterized using confocal, fluorescence, and atomic force microscopes. Further, FNDs are assembled on single large-core multimode optical fibers and imaging fiber bundles end face to detect optically detectable magnetic resonance (ODMR) signals. The ODMR signals are recorded through the fiber’s far end in magnetic fields between 0 to 2.5 mT. A multi-channel sensor is demonstrated with the capability of parallel-in-time mapping and instantaneous readout from individual pixel and enabling magnetic mapping at high spatial resolution. Results of this study are promising for early stage detection in bio-diagnostic applications.