Carbon nanotubes have been attracting considerable interest among material scientists, physicists, chemists, and engineers for almost 30 years. Owing to their high aspect ratio, coupled with remarkable mechanical, electronic, and thermal properties, carbon nanotubes have found application in diverse fields. In this review, we will cover the work on carbon nanotubes used for sensing applications. In particular, we will see examples where carbon nanotubes act as main players in devices sensing biomolecules, gas, light or pressure changes. Furthermore, we will discuss how to improve the performance of carbon nanotube-based sensors after proper modification.