In this study, we demonstrate the direct measurement of a microwave (MW) magnetic field through the detection of atomic Rabi resonances with Cs vapor cells in a free-space low-Q cavity. The line shape (amplitude and linewidth) of detected Rabi resonances is investigated versus several experimental parameters such as the laser intensity, cell buffer gas pressure, and cell length. The specially designed low-Q cavity creates a suitable MW environment allowing easy testing of different vapor cells with distinct properties. Obtained results are analyzed to optimize the performances of a MW magnetic field sensor based on the present atom-based detection technique.