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Based on a low-noise cesium spectral lamp, a high-sensitivity self-oscillating cesium atomic magnetometer with a wide operating temperature range has been developed, solving problems with existing sensors such as a limited operating temperature range and difficult startup at low temperatures. The temperature feedback mechanism is used to make adjustments to any fluctuations in the cesium lamp’s excitation source in real time, improving the magnetometer’s stability and operating temperature range. Herein, the design and optimization of the cesium atomic magnetometer are presented, and a prototype of the magnetometer is described. The quantum limit sensitivity of the cesium atomic magnetometer is estimated by evaluating the intrinsic relaxation rate in the geomagnetic field. A test demonstrates that the cesium atomic magnetometer’s sensitivity in the geomagnetic background is around 140 fT/Hz at 1 Hz at room temperature, and the operating temperature range is from −50 °C to 70 °C, surpassing most of the commercial products of its kind in terms of sensitivity and operating temperature range.