The invention relates to a fiber Bragg grating force sense sensor, a robot and a sensing measurement method of the robot. The fiber Bragg grating force sense sensor comprises a body; at least one inscription groove and optical fibers arranged in the inscription grooves are arranged on the surface of the body; inscription is performed on the optical fibers according to preset fiber Bragg grating parameters, so that at least one fiber Bragg grating can be formed; when the body is deformed under the action of an external force, the change amount of the preset fiber Bragg grating parameters and the change of the center wavelength of the fiber Bragg gratings are obtained; and the change amount of a preset measurement coefficient can be obtained according to the obtained change amount of the preset fiber Bragg grating parameters and change of the center wavelength of the fiber Bragg gratings. Since the fiber Bragg grating force sense sensor of the invention is based on optical fiber sensing, the defect of high possibility of being subjected to electric interference and electromagnetic interference of a traditional sensor can be eliminated. The fiber Bragg grating force sense sensor has the advantages of heat resistance, corrosion resistance and radiation resistance of an optical fiber sensor, small size, high precision and wide measurement range, and can meet the requirements of the static and dynamic characteristics of the feet, fingers and the like of the robot and bear large enough impact load.