In this article, a novel structure of a receiving (Rx) coil with only two coils, which enables omnidirectional wireless power transfer (WPT) for any type of transmitting (Tx) system, is proposed for the first time. The coil adopts each coils into plane cross-shaped ferrite core, with each leg of the ferrite core intersecting both coils. The intersecting direction of the ferrite core for one coil is identical to that of the other one when it is rotated 90 degrees. It is verified that voltage will be induced on at least one coil with any direction of magnetic flux. With an analysis of circuit diagram, it is shown that a high quality factor of each coil can guarantee an omnidirectional power transfer even when the coupling coefficient between two coils has a nonzero value. A simulation model and an experimental prototype is built to verify the omnidirectional WPT of the proposed Rx coil structure, with loop-type Tx coil as an example among various Tx types. Omnidirectional power transfer capability of the proposed coil was verified with a light emitting diode (LED) load. The superiority of the proposed coil was verified by comparison with other Rx coil structures also.