Hydrogen, a high-density and clean energy, has been widely used in various critical applications. However, the safety risk caused by hydrogen leakage during storage and transportation is still a non-negligible issue. Therefore, it is necessary to offer hydrogen sensors with fast response and high repeatability, and it will be perfect for achieving in situ monitoring over the lifecycle of hydrogen production and utilization. Here, we propose a compact optical fiber sensor with a short section of the tilted Bragg fiber grating (TFBG) inscribed in the fiber core and a palladium and tungsten trioxide (Pd/WO₃) combined film of 40 nm thickness over the fiber surface. The TFBG excites tens of narrow cladding resonances, part of which possess refractive indexes matching that of the Pd/WO₃ coating and providing the high sensitivity to the surrounding hydrogen concentration change. The sensor offers improved sensing characteristics, including the fast response time (less than 10 s), high repeatability (over tens of measurement), and excellent linear response (higher than 99.6%) over the 0% to 3% concentration range.