Conducting polymers are used in a wide range of applications, especially in the design and development of electrochemical sensors. Their main advantage, in this context, is their ability to efficiently modify an electrode surface using the direct polymerization of a suitable monomer in an electrochemical cell, or by physical coating. Additionally, the conducting polymers can be mixed with further materials (metal nanoparticles, carbonaceous materials) to enhance conductivity and analytical features (linear range, limit of detection, sensitivity, and selectivity). Due to their characteristics, conducting polymer-based amperometric sensors are applied to the determination of different organic and inorganic analytes. A view of recent advances in this field focusing on pyrrole, thiophene, and 3,4-ethylenedioxythiophene as starting materials is reported.