An arrangement structure of an exhaust gas sensor includes an exhaust pipe that extends from an engine for a vehicle to form a part of an exhaust flow path, a catalytic device that purifies exhaust gas flowing through the exhaust flow path, and a first exhaust gas sensor that detects a predetermined component in the exhaust gas. The exhaust pipe is led out from a front side of the engine to one side in a left-right direction of the engine, and extends rearward so as to be routed on a lateral side of the engine. The catalytic device is arranged in the middle of the exhaust pipe on the lateral side of the engine. The first exhaust gas sensor is arranged on the lateral side of the engine and on an upstream side or a downstream side of the catalytic device in the exhaust pipe.