A sensor arrangement structure includes a vehicle framework member having a hollow cross-section, a vicinity information detection sensor and a cover. The vicinity information detection sensor is attached to the vehicle framework member. At least a portion of the vicinity information detection sensor is disposed inside the hollow cross-section of the vehicle framework member. A detection portion that detects vicinity information of a vehicle is oriented toward a vehicle outer side of the vehicle framework member. The cover is disposed to oppose the detection portion and allows transmission of a detection carrier that is detected by the detection portion.