We analyze the universal transport properties of a strongly interacting quantum dot in the Kondo regime when the quantum dot is placed in an external magnetic field. The quantum dot is described by the asymmetric Anderson model with the spin degeneracy removed by the magnetic field resulting in Zeeman splitting. Using an analytical expression for the tunneling density of states found from a Keldysh effective field theory, we obtain in the whole energy range the universal differential conductance and analytically demonstrate its Fermi-liquid and logarithmic behavior at low and high energies, respectively, as a function of the magnetic field. We also show results on the zero-temperature differential conductance as a function of the bias voltage at different magnetic fields as well as results on finite-temperature effects out of equilibrium and at a finite magnetic field. The modern nonequilibrium experimental issues of the critical magnetic field, at which the zero bias maximum of the differential conductance starts to split into two maxima, as well as the distance between these maxima as a function of the magnetic field, are also addressed.