Human well-being is one of the main goals of sustainable development (SDG 3 and SDG 11). Urban green zones are always presented in all global well-being rankings of the cities. The development of new forms of urban green zones is stimulated by such challenges as urban health and the deficit of urban territory. Sensory gardens are one of the innovative forms of urban green zones. They implement intensive and concentrative interaction of citizens with nature, positively influencing objective and subjective human well-being. In the first part of the research, we analyzed the history of the evolution of the concept of a sensory garden from its mono-sensory to multi-sensory form using the bibliographic analysis. The results of the analyses of scientific publications were confirmed by the results of a survey presented in the second part of the research. The survey was conducted in Moscow, Saint-Petersburg, and Yekaterinburg, where 215 citizens spoke about the sensory garden. The research results confirm that the sensory gardens are a prospective form of urban green zones for citizens, and they are interested in the development of its multisensory concept. According to survey results, the zones of smells and colors in the sensory garden were the most attractive for the respondents. The respondents agreed that the main function of sensory gardens is anti-stress therapy for adults.