With the increasing depth of seismic exploration, the seismic reflection waves continue to develop into the low-frequency band, and the development of low-frequency sensors has become an urgent requirement. In this paper, the PZT-5H based macro fibre composite(MFC) cantilever beam sensors for low-frequency sensing applications are designed and fabricated. Through the finite element simulation and the force-electric coupling analysis, the influences of the substrate material and structural size parameters on the electrical output performance of the MFC cantilever beam structure are investigated, and the structural parameters are optimized, and then the MFC cantilever beam sensor for low-frequency vibration monitoring has been developed. The sensing performance is tested and studied, and the results show that the MFC cantilever beam can well sense the change of low-frequency vibration acceleration, and the acceleration sensitivity is up to 205 mV/g(g=9.8 m/s2) at low frequency of 5-190 Hz.