As sessile organisms, plants cannot survive in harmful environments, such as those characterized by drought, flood, heat, cold, nutrient deficiency, and salt or toxic metal stress. These stressors impair plant growth and development, leading to decreased crop productivity. To induce an appropriate response to abiotic stresses, plants must sense the pertinent stressor at an early stage to initiate precise signal transduction. Here, we provide an overview of recent progress in our understanding of the molecular mechanisms underlying plant abiotic stress sensing. Numerous biomolecules have been found to participate in the process of abiotic stress sensing and function as abiotic stress sensors in plants. Based on their molecular structure, these biomolecules can be divided into four groups: Ca²⁺-permeable channels, receptor-like kinases (RLKs), sphingolipids, and other proteins. This improved knowledge can be used to identify key molecular targets for engineering stress-resilient crops in the field.