A temperature-sensing scheme is realized by a passively mode-locked Yb-doped fiber laser based on the nonlinear optical loop mirror (NOLM). The ambient temperature can be measured by detecting the pulse repetition frequency of the mode-locked fiber laser by an oscilloscope. When the ambient temperature increases from −40 °C to 6 °C, the pulse repetition frequency decreases linearly with a temperature sensitivity of 72.548 Hz/°C. The experimental results prove the feasibility of the mode-locked laser sensor operating in a low-temperature environment.