We present a suspended carbon nanotube gas sensor that senses NO2 at ambient temperature and recovers from gas exposure at an extremely low power of 2.9 μW by exploiting the self-heating effect for accelerated gas desorption. The recovery time of 10 min is two orders of magnitude faster than non-heated recovery at ambient temperature. This overcomes an important bottleneck for the practical application of carbon nanotube gas sensors. Furthermore, the method is easy to implement in sensor systems and requires no additional components, paving the way for ultra-low power, compact, and highly sensitive gas sensors.