Molecular imprinted colorimetric sensors can realize visual semi-quantitative analysis without the use of any equipment. With the advantages of low cost, fast response, ease of handling, and excellent recognition ability, the molecular imprinted colorimetric sensor shows great application potential in the field of sample rapid assay. Molecular imprinted colorimetric sensors can be prepared in various forms to meet the needs of different sample determination, such as film, hydrogel, strip, and adsorption coating. In this review, the preparation methods for various types of molecularly imprinted colorimetric sensors are systematically introduced. Their applications in the field of on-site biological sample detection, drug detection, disease treatment, chiral substance detection and separation, environmental analysis, and food safety detection are introduced. The limitations encountered in the practical application are presented, and the future development directions prospect.