In modern society, technology associated with smart sensors made from flexible materials is rapidly evolving. As a core component in the field of wearable smart devices (or ‘smart wearables’), flexible sensors have the advantages of excellent flexibility, ductility, free folding properties, and more. When choosing materials for the development of sensors, reduced weight, elasticity, and wearer’s convenience are considered as advantages, and are suitable for electronic skin, monitoring of health-related issues, biomedicine, human–computer interactions, and other fields of biotechnology. The idea behind wearable sensory devices is to enable their easy integration into everyday life. This review discusses the concepts of sensory mechanism, detected object, and contact form of flexible sensors, and expounds the preparation materials and their applicability. This is with the purpose of providing a reference for the further development of flexible sensors suitable for wearable devices.