Here we report on a selective and sensitive graphene-oxide-based electrochemical sensor for the detection of naproxen. The effects of doping and oxygen content of various graphene oxide (GO)-based nanomaterials on their respective electrochemical behaviors were investigated and rationalized. The synthesized GO and GO-based nanomaterials were characterized using a field-emission scanning electron microscope, while the associated amounts of the dopant heteroatoms and oxygen were quantified using x-ray photoelectron spectroscopy. The electrochemical behaviors of the GO, fluorine-doped graphene oxide (F-GO), boron-doped partially reduced graphene oxide (B-rGO), nitrogen-doped partially reduced graphene oxide (N-rGO), and thermally reduced graphene oxide (TrGO) were studied and compared via cyclic voltammetry (CV) and differential pulse voltammetry (DPV). It was found that GO exhibited the highest signal for the electrochemical detection of naproxen when compared with the other GO-based nanomaterials explored in the present study. This was primarily due to the presence of the additional oxygen content in the GO, which facilitated the catalytic oxidation of naproxen. The GO-based electrochemical sensor exhibited a wide linear range (10 µM–1 mM), a high sensitivity (0.60 µAµM−1cm−2), high selectivity and a strong anti-interference capacity over potential interfering species that may exist in a biological system for the detection of naproxen. In addition, the proposed GO-based electrochemical sensor was tested using actual pharmaceutical naproxen tablets without pretreatments, further demonstrating excellent sensitivity and selectivity. Moreover, this study provided insights into the participatory catalytic roles of the oxygen functional groups of the GO-based nanomaterials toward the electrochemical oxidation and sensing of naproxen.