The preparation of graphene-based aerogels with excellent mechanical strength, elasticity, and compressibility is still a challenge. Herein, we demonstrate a robust, elastic, and lightweight graphene/aramid nanofiber/polyaniline nanotube (rGO/ANF/PANIT) aerogel that is prepared by mixing graphene oxide (GO), ANF, and PANIT dispersions, followed by thermal treatment at 90 °C, freeze-drying, and a low-temperature annealing process. The PANIT bonds the graphene sheets tightly, benefitting the formation of composite gels. The ANF tightly interconnects the graphene sheets and further reinforces the composite network framework significantly, hence endowing rGO/ANF/PANIT composite aerogels with robust mechanical property. The prepared aerogels present a low density of ∼12 mg cm −3 , high conductivity, good resilience, and high compressibility. The rGO/ANF/PANIT aerogels as pressure sensors exhibit a high sensitivity of 1.73 kPa −1 , low detection limit (40 Pa), wide detection range, and excellent compressive cycle stability, highlighting the promising applications in pressure-sensitive electrical devices, including medical health detection, wearable electronics, and intelligent packaging fields.