An RF sensing circuit with a voltage-controlled oscillator comprises a low noise amplifier (LNA), a voltage-controlled oscillator (VCO), a frequency demodulating unit, a bandpass filter (BPF) and a digital signal processing unit. The VCO has an injection signal input port and a voltage input port, wherein the injection signal input port is electrically connected with an output of the LNA. The frequency demodulating unit is electrically connected with an output of the VCO and the BPF is electrically connected with an output of the frequency demodulating unit. The digital signal processing unit is electrically connected with an output of the BPF and the voltage input port of the VCO.