A radar sensing system for a vehicle includes a radar sensor device, a cover panel and a control. The radar sensor device is disposed at a pocket established at an upper edge of the vehicle windshield and having a forward transmitting and receiving direction that is not through the windshield. The cover panel is disposed at the radar sensor device and is substantially sealed at the vehicle windshield at or near the pocket at the upper edge of the vehicle windshield. The cover panel has a material that is substantially transmissive to radar frequency electromagnetic radiation waves. The radar sensor device emits radar frequency electromagnetic radiation waves that transmit through the cover panel. The control is responsive to an output of the radar sensor device.