Acetaminophen (ACP), a common analgesic and antipyretic medication, can harm the liver when overdosed and its metabolites can contaminate the environment, so it is necessary to monitor the concentration precisely and reliably. In this work, we successfully synthesized cerium oxide/nitrogen-doped reduced graphene oxide (CeO2/N-rGO) composite nanomaterials using a one-step hydrothermal method. Using composite nanomaterials, we created an electrochemical sensing detection platform for ACP detection. The synthesized materials were characterized by scanning electron microscopy, transmission electron microscopy, X-ray diffraction, Fourier transform infrared spectroscopy, Raman spectroscopy, and X-ray photoelectron spectroscopy. The constructed electrochemical sensor exhibits good ACP detection ability under the synergistic effect of CeO2 and N-rGO. Under optimal experimental conditions, the sensor displayed a linear range for the detection of ACP of 1~200 μM and the lowest detection limit of 0.79 μM, exhibiting outstanding selectivity, stability, and repeatability. Furthermore, the sensor was effectively applied to detect ACP in tap water samples, which offers a wide range of possible applications in actual sample testing.