The gas sensing properties of two novel series of Mg-incorporated metal-organic frameworks (MOFs), termed Mg-MOFs-I and -II, were assessed. The synthesized iso-reticular type Mg-MOFs exhibited good crystallinity, high thermal stability, needle-shape morphology and high surface area (up to 2900 m·g), which are promising for gas sensing applications. Gas-sensing studies of gas sensors fabricated from Mg-MOFs-II revealed better sensing performance, in terms of the sensor dynamics and sensor response, at an optimal operating temperature of 200 °C. The MOF gas sensor with a larger pore size and volume showed shorter response and recovery times, demonstrating the importance of the pore size and volume on the kinetic properties of MOF-based gas sensors. The gas-sensing results obtained in this study highlight the potential of Mg-MOFs gas sensors for the practical monitoring of toxic gases in a range of environments.