This review paper summarizes various approaches developed in the literature for antenna sensors with an emphasis on flexible solutions. The survey helps to recognize the limitations and advantages of this technology. Furthermore, it offers an overview of the main points for the development and design of flexible antenna sensors from the selection of the materials to the framing of the antenna including the different scenario applications. With regard to wearable antenna sensors deployment, a review of the textile materials that have been employed is also presented. Several examples related to human body applications of flexible antenna sensors such as the detection of NaCl and sugar solutions, blood and bodily variables such as temperature, strain, and finger postures are also presented. Future investigation directions and research challenges are proposed.