The invention provides a curvature sensor based on an origami structure, the curvature sensor includes a flexible substrate (1), a metal pole plate (2), a first anchoring area of a fixed beam (31), a second anchoring area of a fixed beam (32 ), a double-end fixed support beam (4) with a folded film structure, the first folded film structure (52), the second folded film structure (53), the third folded film structure (51), the fourth folded film structure (54 ), planar inductance (6); when the flexible substrate is attached to a surface with a concave curvature, the structure uses a folded film structure based on the origami principle, so that the double-end fixed beam is folded to form a downward protruding The three-dimensional structure increases the capacitance change between the double-end fixed beam and the metal plate, so the curvature sensor has the advantages of high sensitivity, small measurement error, process compatibility, and novel structure.