The rational design and applications of MXene-based materials have yielded remarkable progress in flexible sensors, including wearable devices, soft robots, and smart medical equipment. The emerging MXene and substrate materials can be precisely engineered to improve the mechanical properties and sensing sensitivity of the sensors, opening up a wider range of application possibilities for MXene-based sensors. Therefore, a systematic and comprehensive review summarizing the progress of MXene-based sensor research based on these backgrounds is necessary. First, we discuss the basic structure of MXene materials and introduce the flexible substrate materials for MXene-based flexible sensors in detail. Then, we also discuss the different preparation methods of MXene-based sensors, describe the classifications, and highlight the applications of MXene-based flexible sensors in various scenarios. Finally, we identify the challenges that need to be overcome to accelerate the development of MXene-based materials in flexible sensing. This review provides a comprehensive and systematic insight into MXene-based flexible sensors and it is expected that this review will contribute to the development of higher performance MXene-based flexible sensors.