In this paper, the performance of a zinc oxide (ZnO) nanorod-based enzymatic glucose sensor was enhanced with silver (Ag)-doped ZnO (ZnO-Ag) nanorods. The effect of the doped Ag on the surface morphologies, wettability, and electron transfer capability of the ZnO-Ag nanorods, as well as the catalytic character of glucose oxidase (GOx) and the performance of the glucose sensor was investigated. The results indicate that the doped Ag slightly weakens the surface roughness and hydrophilicity of the ZnO-Ag nanorods, but remarkably increases their electron transfer ability and enhances the catalytic character of GOx. Consequently, the combined effects of the above influencing factors lead to a notable improvement of the performance of the glucose sensor, that is, the sensitivity increases and the detection limit decreases. The optimal amount of the doped Ag is determined to be 2 mM, and the corresponding glucose sensor exhibits a sensitivity of 3.85 μA/(mM·cm2), detection limit of 1.5 μM, linear range of 1.5 × 10−3–6.5 mM, and Michaelis-Menten constant of 3.87 mM. Moreover, the glucose sensor shows excellent selectivity to urea, ascorbic acid, and uric acid, in addition to displaying good storage stability. These results demonstrate that ZnO-Ag nanorods are promising matrix materials for the construction of other enzymatic biosensors.