Regulatory agencies and civil society organizations concerned with radioactive waste management are demanding maximized safety management of radioactive-waste-containing drums using advanced technology for more efficient and safe management. In the present paper, we propose a sensor system that can track and monitor drums containing low- and intermediate-level radioactive waste using advanced technology based on the Internet of Things (IoT). The proposed system consists of drum nodes, pallet nodes, and gateways. A drum node and magnetic sensor installed on a drum can be used to remotely check whether the drum lid is open or closed, and the location of the drum can be tracked using a near-field communication reader and an infrared module installed on the pallet node. Considering that radioactive waste is stored for a long time period, the proposed sensors are designed for low power consumption. Moreover, a pilot test involving 48 drums and 12 pallets was conducted to verify the system prototype. Accordingly, from the results of the pilot test, drawbacks were noted and solutions were proposed to improve the system in future work. Implications: We designed a test bed by fabricating a sensor-system prototype and used it in a simulation experiment. The results of this study will be used as basic data for establishing safety measures for radioactive waste management in the future through computer simulation of radioactive waste anomalies in a digital-twin system.