Quantum metrology, a cornerstone of quantum technologies, exploits entanglement and superposition to achieve higher precision than classical protocols in parameter-estimation tasks. When combined with critical phenomena such as phase transitions, the divergence of quantum fluctuations is predicted to enhance the performance of quantum sensors. Here, we implement a critical quantum sensor using a superconducting parametric (i.e., two-photon driven) Kerr resonator. The sensor, a linear resonator terminated by a superconducting quantum interference device, operates near the critical point of a finite-component second-order dissipative phase transition obtained by scaling the system parameters. We analyze the performance of a frequency-estimation protocol and show that quadratic precision scaling with respect to the system size can be achieved with finite values of the Kerr nonlinearity. Since each photon emitted from the cavity carries more information about the parameter to be estimated compared to its classical counterpart, our protocol opens up perspectives for faster or more precise metrological protocols. Our results demonstrate that quantum advantage in a sensing protocol can be achieved by exploiting a phase transition.