A self-assembled fluorescent nanosensor for the determination of L-cysteine (Cys) was constructed based on the mechanism of fluorescence resonance energy transfer (FRET). In this system, CdTe/ZnS QDs serve as the energy donor while AuNPs serve as the receptor, resulting in the occurrence of FRET with dramatic fluorescence quenching of the QDs (turn off). Once Cys is added, AuNPs can adsorb Cys, leading to the release of the QDs. The process would inhibit the FRET, which contributed to the recovery of fluorescence (turn on) and an off-on fluorescence aptasensor for Cys detection was constructed accordingly. The linear response range of the fluorescence sensor is from 0.8 to 50 μM, and the detection limit is 0.24 μM. The sensor demonstrates great sensitivity and selectivity to Cys. More importantly, the QD-based sensing platform was successfully used for the detection of Cys in milk samples with high precision and accuracy, indicating the potential of the probe in practical applications.