Sensory impulses derived from the bladder and urinary sphincter system play an important role in the control of detrusor-sphincter function. Conscious sensation is essential to ensure the storage phase and to allow micturition at a functionally and socially acceptable time. Adequate sensation of the lower urinary tract requires an intact urothelium--peripheral nervous system--spinal cord--brain stem--midbrain--sensory cortex axis. This article reviews the current anatomical, physiological and pathophysiological knowledge concerning the afferent (sensory) nerve pathways of the bladder and urethra, with particular emphasis on their physiological and therapeutic implications.