Smart wearable electronics have attracted increasing attention because of their great prospects in motion monitoring. To date, a specific design of thermoelectric wearable devices aiming at precision monitoring is still challenging, although thermoelectric materials and devices have witnessed significant developments. In this work, intercalated composites of reduced graphene oxide/reduced poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate) (rGO/rPEDOT:PSS) are reported through the insertion of PEDOT:PSS into 2D graphene oxide layers followed by precise optimization of oxidationlevel of composite, exhibiting an outstanding thermoelectric performance along with excellent thermoelectric stability and mechanical flexibility. Furthermore, a novel-concept, simple-structural, self-powered thermoelectric wearable sensor is demonstrated with rGO/rPEDOT:PSS composite as the active sensing component of the thermoelectric device. Combined with the excellent thermoelectric performance, ingenious device design, and optimized algorithm, the thermoelectric wearable device achieves precision recognition of various hand motions. This study provides a new way to design wearable sensors toward the precision recognition of human motions.