This paper presents a portable 24-GHz auditory radar system for non-contact robust speech information sensing. To measure the tiny vibration on human throat induced by vocal cords, a high operating frequency and a pair of 4×4 antenna arrays are utilized to achieve high sensitivity. Experiments under high-level background noise and voice interference are carried out. Compared with the microphone-detected results, the developed radar system can accurately acquire high-resolution time-varying speech information with good noise rejection and directional discrimination.