The invention discloses a flexible piezoelectric sensor and a manufacturing method thereof. The piezoelectric sensor structure comprises a negative electrode terminal, a first insulating packaging layer, a negative electrode layer, a flexible piezoelectric material layer, a positive electrode layer, a second insulating packaging layer, a positive electrode terminal and the like; the manufacturingof the flexible piezoelectric sensor mainly comprises that the prefabricated first insulating packaging layer and the prefabricated second insulating packaging layer are taken as carriers, the first insulating packaging layer and the second insulating packaging layer are sequentially and synchronously used for manufacturing electrode terminal mounting holes, the negative and positive electrode terminals are mounted, the negative and positive electrode layers are sprayed, a negative electrode flexible piezoelectric material layer and a positive electrode flexible piezoelectric material layer are sprayed, and the flexible piezoelectric material layer is formed through extruding and gluing, and the flexible piezoelectric sensor enters a uniform electric field for polarization. The flexible piezoelectric sensor is compact in structure, high in flexibility, integrally packaged, high in weather resistance, stable in performance and convenient to mount and maintain. The manufacturing method of the flexible piezoelectric sensor is simple and feasible in process, high in automatic production degree and high in production efficiency, and meanwhile, the flexible piezoelectric sensor with anysize is manufactured theoretically.