The disclosure is directed to a vehicle cargo bed capacitive sensor system configured to determine when a cargo bed cap installed on the cargo bed (e.g., the bed of a pickup truck) changes position or is being manipulated in some way. The system may include one or more capacitive sensors disposed on one or more cargo bed walls, between the cargo cap and the cargo bed. The system detects when the cargo bed cap is removed, and detects when particular cargo bed doors are opened using the sensors. The system may also provide a control system that allows users to authorize individuals to access particular areas, group individual bins together for access control, and can provide information when the system detects unauthorized access.