The invention provides a magnetic and force cilium bionic sensor and a preparation method thereof. The sensor is formed by a signal sensitive layer and an electrode layer. The signal sensitive layer is a magnetic conductive cilium array. The preparation method comprises the following steps: 1) placing suspension liquid formed by resin materials and magnetic particles in a magnetic field environment, carrying out heating treatment until solvent is evaporated and resin is cured and obtaining a magnetic cilium array; and 2) coating graphene oxide onto the surface of the obtained magnetic cilium array, and carrying out chemical reduction treatment to obtain the magnetic conductive cilium array. The electrode layer is a flexible macromolecule film layer having an interdigital conductive network structure. The sensor has the advantages of low cost, high sensitivity, good repeatability and having response to magnetic and force signals and the like, and has a good application prospect in the fields of biological health detection, smart screen, human-computer interaction and electronic skin and the like.