The demand for flexible pressure sensors in wearable devices is dramatically increasing. However, challenges still exist in making flexible pressure sensors, including complex or costly fabrication processes and difficulty in mass production. In this paper, a new method is proposed for preparing the flexible pressure sensors that combines an imprinting technique with blade-coating of a graphene–silver nanosheet–polymer nanocomposite. The piezo-resistive type flexible pressure sensor consists of interdigital electrodes and nanocomposite as a sensing layer, as well as a micropillar array structure. The morphology of the sensitive layer of the sensor is characterized by scanning electron microscopy (SEM). The response performance, sensitivity, and stability of the sensor are investigated. The test results show that the initial resistance of the pressure sensor is only 1.6 Ω, the sensitivity is 0.04 kPa−1, and the response time is about 286 ms. In addition, a highly hydrophobic wetting property can be observed on the functional structure surface of the sensor. The contact angle is 137.2 degrees, revealing the self-cleaning property of the sensor. Finally, the prepared sensor is demonstrated as a wearable device, indicating promising potential in practical applications.