With the rapid progress of artificial intelligence, humans are moving toward the era of the intelligent connection of all things. Therefore, the demand for sensors is drastically increasing with developing intelligent social applications. Traditional sensors must be triggered by an external power source and the energy consumption is high for equipment that is widely distributed and working intermittently, which is not conducive to developing sustainable green and healthy applications. However, self-powered sensors based on triboelectric nanogenerators (TENG) can autonomously harvest energy from the surrounding environment and convert this energy into electrical energy for storage. Sensors can also be self-powered without an external power supply, which is vital for smart cities, smart homes, smart transportation, environmental monitoring, wearable devices, and bio-medicine. This review mainly summarizes the working mechanism of TENG and the research progress of self-powered sensors based on TENG about the Internet of Things (IoT), robotics, human–computer interaction, and intelligent medical fields in recent years.