In the present paper, the recent progress in terahertz metamaterials-based sensing is reviewed with the principle of metamaterial biosensor, metamaterial substrate, and structure design, respectively. The paper introduces the principle in detail, analyzes the sensitivity of the biosensor with the material and the thickness of the substrate and the structure of metamaterial. The analysis shows that we can enhance the sensitivity and resolution of biosensor by designing specific metamaterial structure, using low dielectric constant and low loss thin substrate, especially many materials have a specific response in the terahertz frequency. So, there is a large potential application for label-free sensing by using the terahertz metamaterials. This paper also presents the future development of THz metamaterial sensors.