A solid-liquid contact electrification-based self-driving chemical sensor includes a container, a contact liquid, an electrode, a solid triboelectric layer, a rectifier, a load, and a displacement device. The contact liquid is placed in the container. The electrode may be actively or passively moved into the container to be immersed in or emerged from the contact liquid. The solid triboelectric layer surrounds and covers a surface of the electrode. The solid triboelectric layer includes a sensing layer which becomes a reacted sensing layer by reacting to a target analyte. The rectifier and the load are connected to the electrode. The displacement device is connected to the electrode or the container to perform a periodic reciprocating motion, so that the solid triboelectric layer is in contact with and separated from the contact liquid, thereby generating a surface charge transfer to generate an electrical output signal.