10+ years of experience is proper. Units of time like years can also be used in a possessive sense, so you can also say 10+ years' experience. See this question and this question for more details about that.
In formal writing you should not use 10+ years experience without the apostrophe, but then you would not normally say "10+" in normal writing either. Résumé writing is a bit informal and has conventions of its own, such as frequent omission of articles and first person pronouns ("Implemented process that increased efficiency of widget production by 400 percent"). So you might be able to get away with years experience in that context. Still, you can't go wrong if you get it right: stick with either years of experience or years' experience.