Black phosphorus (BP) is a new two-dimensional material with many unique properties, such as great biocompatibility, excellent surface activity, high carrier mobility, and tunable bandgap. Black phosphorus has been particularly attractive in sensor. However, black phosphorus isolated by traditional methods is easily oxidized and degraded by air, with poor stability, which limits its application as sensors. The modification and functionalization of black phosphorus enhance the stability, sensitivity, selectivity and biocompatibility of its application in sensor. This review describes recent progresses in sensor based on black phosphorus (2016-2020). Firstly, the structure and properties, synthesis methods, modification and functionalization of black phosphorus are briefly described. Then, the advancements in designing of various sensors based on black phosphorus are systematically provided, with a specific focus on electrochemical sensors, electrochemiluminescence sensors and photoelectrochemical sensors. Finally, latest challenges and further opportunities for developing new sensors with black phosphorus nanomaterial are discussed.