Biosensors are a simple, low-cost, and reliable way to detect pesticides in food matrices to ensure consumer food safety. This systematic review lists which nanomaterials, biorecognition materials, transduction methods, pesticides, and foods have recently been studied with biosensors associated with analytical performance. A systematic search was performed in the Scopus (n = 388), Web of Science (n = 790), and Science Direct (n = 181) databases over the period 2016–2021. After checking the eligibility criteria, 57 articles were considered in this study. The most common use of nanomaterials (NMs) in these selected studies is noble metals in isolation, such as gold and silver, with 8.47% and 6.68%, respectively, followed by carbon-based NMs, with 20.34%, and nanohybrids, with 47.45%, which combine two or more NMs, uniting unique properties of each material involved, especially the noble metals. Regarding the types of transducers, the most used were electrochemical, fluorescent, and colorimetric, representing 71.18%, 13.55%, and 8.47%, respectively. The sensitivity of the biosensor is directly connected to the choice of NM and transducer. All biosensors developed in the selected investigations had a limit of detection (LODs) lower than the Codex Alimentarius maximum residue limit and were efficient in detecting pesticides in food. The pesticides malathion, chlorpyrifos, and paraoxon have received the greatest attention for their effects on various food matrices, primarily fruits, vegetables, and their derivatives. Finally, we discuss studies that used biosensor detection systems devices and those that could detect multi-residues in the field as a low-cost and rapid technique, particularly in areas with limited resources.