In order to realize the long-term safety monitoring of the structure, a fiber Bragg grating tilt sensor with the combination of lever principle and pendulum structure is designed. Based on this, theoretical analysis, numerical calculation and performance test of the sensor are carried out. The results of numerical calculation and experiment are compared and analyzed, and it is found that they are in good agreement with each other. In order to increase the sensitivity of the sensor, the size parameters of the sensor are designed. Considering the anchorage efficiency between the fiber Bragg grating and the metal material, and the manufacturing process requirements of the sensor, the best combination value is given comprehensively. The experimental results show that the effective monitoring range of the proposed fiber Bragg grating tilt sensor is -5°~5°, the sensitivity of the sensor is 359.04 pm/(°), the linear correlation is 0.999, and the measurement repeatability error is 3.433%. In addition, the proposed fiber Bragg grating tilt sensor reduces the influence of temperature on angle measurement, is suitable for the working environment with large temperature variation and high precision, and has a good application prospect.