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This paper presents a real-time measurement method of vehicle transmission shaft dynamic torque, which was based on two single-port SAW resonators. Using three-point equidistantly and symmetrically arranged signal transceiver antenna, the diffraction of signal was eliminated. The control circuit of signal transmitting and receiving sequence was achieved with PWM signal, therefore, the hardware circuit was simplified. Modeling of SAW torque sensor measurement with frequency difference was introduced into this measurement system,, and the influence of temperature or other factors was reduced and the measuring accuracy was improved. Theoretical and experimental results were compared and the results showed good agreement and supported the validity of the SAW torque sensor model. Obtained measurement sensitivity was 1.15 kHz/(N·m), and a feasible solution for vehicle transmission shaft dynamic torque measuring was provided.