Double-differential yields of Ξ (1530) and Ξ ¯ (1530) resonances produced in p+p interactions were measured at a laboratory beam momentum of 158 GeV/c. This measurement is the first of its kind in p+p interactions below LHC energies. It was performed at the CERN SPS by the NA61/SHINE collaboration. Double-differential distributions in rapidity and transverse momentum were obtained from a sample of 26 × 10 ⁶ inelastic events. The spectra are extrapolated to full phase space resulting in mean multiplicity of Ξ (1530) (6.73 ± 0.25 ± 0.67) × 10 ^{- 4} and Ξ ¯ (1530) (2.71 ± 0.18 ± 0.18) × 10 ^{- 4}. The rapidity and transverse momentum spectra and mean multiplicities were compared to predictions of string-hadronic and statistical model calculations.