The invention discloses a flexible sensor capable of simultaneously detecting pressure-strain dual-mode signals and a preparation method. The sensor comprises a lower packaging protection layer, a lower electrode plate, first metal lead layers, a porous dielectric layer, second metal lead layers, an upper electrode plate and an upper packaging protection layer. The lower electrode plate and the upper electrode plate are made of low-dimensional nano materials, when the device is prepared, the low-dimensional nano material of the lower electrode plates are diffused towards the upper surface of the lower packaging protection layer to form a first diffusion layer, and the low-dimensional nano materials of the upper electrode plate are diffused towards the upper surface of the porous dielectric layer to form a second diffusion layer; the lower electrode plate and the upper electrode plate serve as electrode plate parts of the capacitor structure and are used for sensing pressure signals, and serve as strain gauge structures and are used for sensing stretching signals. The preparation method of the sensor is simple, two ends of the low-dimensional nano material are embedded into the upper and lower elastomers, so that the upper and lower layers form effective connection, and later additional assembly and adhesion are not needed.