A foot pressure sensor was fabricated by using Polydimethylsiloxane (PDMS) coated conductive cotton yarn via embroidery technique. Cotton yarn was firstly modified with a silane coupling agent and coated with rGO to form a conductive core yarn, following by a coating of PDMS sheath layer. The fabricated yarn electrode was then sewing into different fabrics to assemble pressure sensors by using the embroidery technique. The preparation process was characterized by using scanning electron microscopy and Fourier Transform Infrared spectroscopy. The performance of single yarn electrodes and assembled devices were tested by collecting the signal of short-circuit current with varying frequencies and applied forces. The results indicate that the prepared foot pressure sensor can be successfully applied to practical applications of monitoring human body basic movement.