We show experimentally that poly-crystalline TiO2 spheres, 20-30 μm in diameter, exhibit a magnetic dipole Mie resonance in the terahertz (THz) frequency band (1.0-1.6 THz) with a narrow line-width (<40 GHz). We detect and investigate the magnetic dipole and electric dipole resonances in single high-permittivity TiO2 microspheres, using a near-field probe with a sub-wavelength (~λ/50) size aperture and THz time-domain spectroscopy technique. The Mie resonance signatures are observed in the electric field amplitude and phase spectra, as well as in the electric field distribution near the microspheres. The narrow line-width and the sub-wavelength size (λ/10) make the TiO2 microspheres excellent candidates for realizing low-loss THz metamaterials.