The fabrication of flexible sensors is a potential way to promote the progress of modern social science and technology due to their wide applications in high-performance electronic equipment and devices. Flexible sensors based on organic materials combine the unique advantages of flexibility and low cost, increasing interest in healthcare monitoring, treatment, and human-machine interfaces. Advances in materials science and biotechnology have rapidly accelerated the development of bio-integrated multifunctional sensors and devices. Due to their excellent mechanical and electrical properties, many types of functional materials provided benefits for the construction of various sensors with improved flexibility and stretchability. In this review, recent advance in the fabrication of flexible sensors by using functional nanomaterials including nanoparticles, carbon materials, metal-organic materials, and polymers is presented. In addition, the potential biomedical applications of the fabricated flexible sensors for detecting gas molecules signals, small molecules, DNA/RNA, proteins, others are introduced and discussed.