Quantum criticality, as a fascinating quantum phenomenon, may provide significant advantages for quantum sensing. Here we propose a dynamic framework for quantum sensing with a family of Hamiltonians that undergo quantum phase transitions (QPTs). By giving the formalism of the quantum Fisher information (QFI) for quantum sensing based on critical quantum dynamics, we demonstrate its divergent feature when approaching the critical point. We illustrate the basic principle and the details of experimental implementation using quantum Rabi model. The framework is applicable to a variety of examples and does not rely on the stringent requirement for particular state preparation or adiabatic evolution. It is expected to provide a route towards the implementation of criticality-enhanced quantum sensing.