Here we introduce a facile method to fabricate a flexible piezoelectric sensor using one-dimensional (1-D) piezoelectric poly(vinylidene fluoride) (PVDF) nanofibers directly produced onto flexible printed electrodes by electro-spinning without an additional poling process. The flexible silver electrodes are fabricated on polyethylene terephthalate (PET) using silver nanowires by easy and cost-effective spraying deposition. The electrospun PVDF nanofibers have uniaxially aligned arrays on the electrodes by using a rotating collector. The fabricated PVDF piezoelectric sensors demonstrate the piezoelectric responses with repeated mechanical stimuli with good flexibility and high sensitivity. We expect that the facile fabrication of PVDF piezoelectric sensors on flexible printed electrodes can be usefully exploited to integrate the piezoelectric sensors into flexible and stretchable functional electronic devices.