A radar sensor having a plurality of main beam directions, and having a circuit board on which one or a plurality of antenna elements for transmitting and/or receiving of the radar radiation is/are situated. In addition, the radar sensor has at least one or a plurality of dielectric lenses which is/are situated in the optical path of the antenna elements, the optical axis of the dielectric lens being tilted in relation to the main beam direction of the at least one or the plurality of antenna elements under an angle that is greater than zero degrees so that at least one main beam direction of the radar sensor is fixed at a predefined angle to the vertical of the circuit board surface.