We investigate universal properties of a $p$-wave Fermi gas with a resonant interaction in which the axisymmetry is broken spontaneously or externally. Here, we show that the short-range correlations can be completely characterized by the nine-component $p$-wave contact tensor, which can be measured through a generalized adiabatic sweep theorem. The distinctive features of the $p$-wave contact tensor emerge in a normal $p$-wave Fermi gas in an anisotropic trap and in a superfluid phase. An experimental scheme to measure the $p$-wave contact tensor and test the adiabatic sweep theorem is also discussed.