The thermoelectric (TE) fiber, based on poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS), which possesses good flexibility, a low cost, good environmental stability and non-toxicity, has attracted more attention due to its promising applications in energy harvesting. This study presents a self-powered flexible sensor based on the TE properties of the hollow PEDOT:PSS fiber. The hollow structure of the fiber was synthesized using traditional wet spinning. The sensor was applied to an application for finger touch, and showed both long-term stability and good reliability towards external force. The sensor had a high scalability and was simple to develop. When figures touched the sensors, a temperature difference of 6 °C was formed between the figure and the outside environment. The summit output voltages of the sensors with 1 to 5 legs gradually increased from 90.8 μV to 404 μV. The time needed for the output voltage to reach 90% of its peak value is only 2.7 s. Five sensors of legs ranging from 1 to 5 were used to assemble the selector. This study may provide a new proposal to produce a self-powered, long-term and stable skin sensor, which is suitable for wearable devices in personal electronic fields.