A bidirectional current sensing circuit includes: a sensing resistor coupled between a load and a reference ground, a first and second auto-zero amplifiers coupled to the sensing resistor to sense the voltage across the sensing resistor, and an output transistor. One of the first and second auto-zero amplifiers operates in an output mode and the other of the first and second auto-zero amplifiers operates in a zeroing mode according to a polarity of a voltage across the sensing resistor. The output transistor has a first terminal providing a current sensing signal indicating a load current, a second terminal electrically connected to an inverting terminal of the one of the first and second auto-zero amplifiers operating in the output mode, and a control terminal electrically connected to an output terminal of the one of the first and second auto-zero amplifiers operating in the output mode.