A wear sensing device is disclosed. The wear sensing device may be used in conjunction with a carrier roller assembly of a track assembly. The wear sensing device may have a wear sensor roller mounted to an axle of the carrier roller assembly. The sensor roller may be configured to contact a track pin assembly connected to one or more track links of the track assembly. The wear sensing device may further have a wear sensor mounted to the wear sensor roller and configured to generate a signal indicative of a wear parameter of the one or more track links.