Flexible gas sensors made of polyaniline (PANI)-reduced graphene oxide (rGO) nanocomposite were prepared using three different substrates, namely filter paper, cotton fabric, and weighing paper, through in-situ reduction of GO and in-situ polymerization of aniline. Preliminary analysis showed that the PANI/rGO coated on filter paper possesses a superior electrical conductance than PANI/rGO coated on cotton fabric and weighing paper. Such observation was attributed to the good attachment of the PANI/rGO nanocomposites onto the high-density mesh-like structure of the filter paper with rough surfaces. In contrast, PANI/rGO coated onto weighing paper and cotton fabric of different surface structures presented lower-to-almost negligible conductance. Accordingly, PANI/rGO filter paper was selected for the subsequent evaluation of gas sensing properties. The gas-sensing performances of the PANI/rGO filter paper sensors indicated that the 5 wt% PANI/rGO (i.e., 5 wt% rGO) sample exhibited the best response of 306% for 500 ppm carbon dioxide (CO₂) gas at room temperature with a recovery rate of 41.5%. On the other hand, the optimum recovery rate of 59.5% was identified at 0.5 wt% PANI/rGO sample which exhibited a response of 155%. Owing to the synergy effect, the PANI/rGO sensor outperformed the sensor made of pure PANI or pure rGO.