Since Zwilling and co-workers first introduced the electrochemical anodization method to prepare TiO2 nanotubes in 1999, it has attracted a lot of researches due to its outstanding gas response and selectivity, making it widely used in gas detection field. This review presents an introduction to the sensor applications of TiO2 nanotube arrays (TNTAs) in sulfur hexafluoride (SF6)-insulated equipment, which is used to evaluate and diagnose the insulation status of SF6-insulated equipment by detecting their typical decomposition products of SF6: sulfur dioxide (SO2), thionyl fluoride (SOF2), and sulfuryl fluoride (SO2F2). The synthesis and sensing properties of TiO2 nanotubes are discussed first. Then, it is followed by discussing the theoretical sensing to the typical SF6 decomposition products, SO2, SOF2, and SO2F2, which analyzes the sensing mechanism at the molecular level. Finally, the gas response of pure and modified TiO2 nanotubes sensor to SO2, SOF2, and SO2F2 is provided according to the change of resistance in experimental observation.