We first propose and demonstrate a polarimetric fiber laser system for relative humidity (RH) sensing based on the beat frequency demodulation. A graphene oxide-coated D-shaped fiber (GDF) with a low insertion loss of 0.8 dB was embedded into a laser cavity to form an RH sensing probe. The output of the fiber laser could generate mode splitting between two orthogonal polarization modes due to birefringence of the GDF device. Hence, two types of beat signals, i.e., longitudinal mode beat frequency (LMBF) and polarization mode beat frequency (PMBF) could be generated synchronously. The experimental results indicated that the LMBFs of the fiber laser had almost no response to the ambient humidity, and the PMBFs of the fiber laser were very sensitive to the various RH levels. There was a good linear relationship between the PMBF and RH changes in the range of 30% to 98%. This fiber-optic RH sensor exhibited a sensitivity of 34.7 kHz/RH% with a high quality of fit (R2>0.997) during the ambient RH increase and decrease. Moreover, the average response and recovery times of the fiber-optic RH sensor were measured to be about 64.2 ms and 97.8 ms, respectively. Due to its long stability, reversibility, quick response time and low temperature cross-sensitivity (i.e., 0.12 RH%/°C), the proposed fiber-optic RH sensor could offer attractive applications in many fields, such as biology, chemical processing and food processing, etc.