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Optical detection of magnetic resonance using quantum spin sensors (QSSs) provides a spatially local and sensitive technique to probe spin dynamics in magnets. However, its utility as a probe of antiferromagnetic resonance (AFMR) remains an open question. We report the experimental demonstration of optically detected AFMR in layered van der Waals antiferromagnets (AFM) up to frequencies of 24 gigahertz. We leverage QSS spin relaxation due to low-frequency magnetic field fluctuations arising from collective dynamics of magnons excited by the uniform AFMR mode. First, through AFMR spectroscopy, we characterize the intrinsic exchange fields and magnetic anisotropies of the AFM. Second, using the localized sensitivity of the QSS, we demonstrate magnon transport over tens of micrometers. Last, we find that optical detection efficiency increases with increasing frequency. This showcases the dual capabilities of QSS as detectors of high-frequency magnetization dynamics and magnon transport, paving the way for understanding and controlling the magnetism of antiferromagnets.