The detection of magnons and their quantum properties, especially in antiferromagnetic (AFM) materials, is a substantial step to realize many ambitious advances in the study of nanomagnetism and the development of energy efficient quantum technologies. The recent development of hybrid systems based on superconducting circuits provides the possibility to engineer quantum sensors that exploit different degrees of freedom. Here, we examine the magnon-photon-transmon hybridization based on bipartite AFM materials, which gives rise to an effective coupling between a transmon qubit and magnons in a bipartite AFM. We demonstrate how magnon modes, their chiralities, and quantum properties, such as nonlocality and two-mode magnon entanglement in bipartite AFMs, can be characterized through the Rabi frequency of the superconducting transmon qubit.