Photoluminescent nitrogen-doped carbon nanodots (N-doped CNDs) soluble in organic media are synthesized in a one-step synthesis from a single-source precursor (an amphiphilic polymer), which exhibits a very high quantum yield (QY = 78%), excitation wavelength-dependent emission, and upconversion emission properties. The evolution of N-doped CND formation is studied via ultraviolet-visible and photoluminescence spectroscopy. Their analytical application as an effective sensor for the direct determination of nitroaromatic explosives and byproducts is shown based on their selective response via a fluorescence quenching mechanism. The proposed method is validated in soil samples by directly using the sensor in organic media without any further treatment or additional functionalization, which is an interesting aspect for practical applications.