Wearable data gloves often suffer from electromagnetic interference, insufficient substrate stability, and limited capability for multi-degree-of-freedom motion measurement. To address these limitations, a flexible glove incorporating a hybrid POF-FBG sensing scheme was designed and fabricated. Plastic optical fibers (POFs) were side-polished and patterned with long-period gratings to improve sensitivity to wrist flexion-extension and abduction-adduction. Then fiber Bragg gratings (FBGs) were embedded in a polydimethylsiloxane substrate and encapsulated using thermoplastic polyurethane fixtures to reduce the influence of skin stretching and improve measurement accuracy of finger-joint angle. Moreover, a thermoplastic polyurethane skeleton with an adaptive sliding-rail structure was 3D printed to maintain the stability of the sensor placement at the joints. Experimental results demonstrated the mean absolute errors of 4.06°, 1.38° and 1.70° for wrist flexion-extension, abduction-adduction and finger-joint bending, respectively, along with excellent gesture classification using a support vector machine algorithm, which indicates great potential in virtual reality interaction and hand rehabilitation applications.