The sensor attachment structure includes: an attachment recess formed by causing a part of an exterior panel of a vehicle to be depressed toward an inside of the vehicle; a surrounding information sensor that detects surrounding information of the vehicle, at least a part of the surrounding information sensor being disposed further inside the vehicle than the attachment recess; a sensor clip that attaches the surrounding information sensor to the exterior panel from an outside of the vehicle; and a cover body that covers and hides the sensor clip attached to the attachment recess, the cover body being attached to the exterior panel.