Carbon nanomaterials have unique physicochemical properties and great application potential, and great potential for medical applications, often in the form of biosensor systems. The development of novel carbon nanomaterials such as carbon nanotubes and graphene, has led to the emergence of new nanobiosensors capable of performing functions such as minimally invasive surgery, disease monitoring, tumor detection and drug delivery. In this review, the application progress of biosensors based on carbon nanomaterials was mainly introduced from the aspects of minimally invasive surgery, disease monitoring, tumor detection and drug delivery. It is of great significance to develop electronic devices or portable detection devices based on carbon nanomaterials for use in the biomedical field.