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Due to their unique optical properties, narrow size distributions, and good biological affinity, gold nanoparticles have been widely applied in sensing analysis, catalytic, environmental monitoring, and disease therapy. The color of a gold nanoparticle solution and its maximum characteristic absorption wavelength will change with the particle size and inter-particle spacing. These properties are often used in the detection of hazardous chemicals, such as pesticide residues, heavy metals, banned additives, and biotoxins, in food. Because the gold nanoparticles-colorimetric sensing strategy is simple, quick, and sensitive, this method has extensive applications in real-time on-site monitoring and rapid testing of food quality and safety. Herein, we review the preparation methods, functional modification, photochemical properties, and applications of gold nanoparticle sensors in rapid testing. In addition, we elaborate on the colorimetric sensing mechanisms. Finally, we discuss the advantages and disadvantages of colorimetric sensors based on gold nanoparticles, and directions for future development.