This paper presents a substantial review of the development and utilization of graphene-based flexible sensors. Graphene, being the most influential nanomaterial, has been widely exploited in different physicochemical forms to synthesize sensing prototypes. The excellent electromechanical properties of graphene have allowed the sensing prototypes to be used for a varied spectrum of industrial applications. This paper depicts the use of three different forms of graphene, pure graphene, graphene oxide, and reduced graphene oxide, to form the sensors. The formation of the graphene-based sensors was carried out using certain printing techniques that were able to produce thin films. These sensors have been used in applications associated with robotic tactile applications. Along with showcasing significant examples of the utilization of graphene-based sensors, the paper also explains some of the challenges existing in the current scenario and their possible remedies in the final section of the paper.