A touch and hover sensing device includes a hover sensing module is located on a first surface of a substrate, the hover sensing module includes a plurality of first electrostatic sensing elements and a plurality of second electrostatic sensing elements electrically insulated from each other. Each of the plurality of first electrostatic sensing elements and each of the plurality of second electrostatic sensing elements include a single walled carbon nanotube or few-walled carbon nanotube. A touch sensing module is located on a second surface of the substrate. The hover sensing module and the touch sensing module are connected to a control chip, the control chip controls the hover sensing module and the touch sensing module simultaneously working or working separately, to sense a position coordinate of the sensed object.