Point-of-care testing (POCT) via paper-based colorimetric sensors allows for on-site testing, with biomarker detection visible to the naked eye within minutes, leading to better health management. In this chapter, we emphasise the fundamentals, fabrication techniques and development of paper-based colorimetric sensors. The use of POCT paper-based colorimetric sensors for the diagnosis of biomarkers associated with various diseases such as COVID-19, HIV, dengue, malaria, diabetes, cancer, etc. has been discussed in detail. The application of paper-based colorimetric sensors in the detection of fertility and pregnancy has also been highlighted. The unique properties of paper have also been summarised in order to create cost-effective, simple and easy-to-use devices. In the end, the challenges and emerging opportunities of POCT, paper-based colorimetric sensors have also been discussed. This chapter paves the way for research in paper-based colorimetric sensors.