A new and easy-to-fabricate strain sensor has been developed, based on fiber Bragg grating (FBG) technology embedded into a thermoplastic polyurethane filament using a 3-dimensional (3D) printer. Taking advantage of the flexibility and elastic properties of the thermoplastic polyurethane material, the embedding of the FBG provides durable protection with enhanced flexibility and sensitivity, as compared to the use of a bare FBG. Results of an evaluation of its performance have shown that the FBG sensors embedded in this way can be applied effectively in the measurement of strain, with an average wavelength responsivity of 0.013 5 nm/cm of displacement for tensile strain and –0.014 2 nm/cm for compressive strain, both showing a linearity value of up to 99%. Furthermore, such an embedded FBG-based strain sensor has a sensitivity of ~1.74 times greater than that of a bare FBG used for strain measurement and is well protected and suitable for in-the-field use. It is also observed that the thermoplastic polyurethane based (TPU-based) FBG strain sensor carries a sensitivity value of ~2.05 times higher than that of the polylactic acid based (PLA-based) FBG strain sensor proving that TPU material can be made as the material of choice as a “sensing” pad for the FBG.