With the rapid development of industry and information technology, rough challenges have been put forward for the traditional sensor technology to meet the increasingly complex and diverse application demands in actual production and daily life, and the widely distributed sensor network also faces complex power supply and maintenance problems. As a new energy conversion technology, triboelectric nanogenerators (TENGs) based on triboelectrification and electrostatic induction effect can respond to the weak mechanical stimuli in the surrounding environment and generate corresponding electrical signals to realize the sensing function without external power supply. In addition, TENGs have the advantages of wide selection of fabrication materials, flexible and diverse fundamental modes, which can be customized for different applications and realize different sensing functions. In recent years, triboelectric sensors based on TENGs have developed rapidly, and researchers have developed variable triboelectric sensors for different application scenarios. In this paper, the developed triboelectric sensos have been classified into different categories, the advanced strategy to prepare advanced triboelectric materials and technology used for manufacturing integration have been introduced. This work summarizes the main applications of triboelectric sensors and put forward the current challenges, so as to provide guidance and instructions for the future development of triboelectric sensors.