Embedded sensors (ESs) are used in smart materials to enable continuous and permanent measurements of their structural integrity, while sensing technology involves developing sensors, sensory systems, or smart materials that monitor a wide range of properties of materials. Incorporating 3D-printed sensors into hosting structures has grown in popularity because of improved assembly processes, reduced system complexity, and lower fabrication costs. 3D-printed sensors can be embedded into structures and attached to surfaces through two methods: attaching to surfaces or embedding in 3D-printed sensors. We discussed various additive manufacturing techniques for fabricating sensors in this review. We also discussed the many strategies for manufacturing sensors using additive manufacturing, as well as how sensors are integrated into the manufacturing process. The review also explained the fundamental mechanisms used in sensors and their applications. The study demonstrated that embedded 3D printing sensors facilitate the development of additive sensor materials for smart goods and the Internet of Things.