Abstract: A control method of a sensor disposed in an exhaust system may include starting an engine; performing a first logic of checking whether moisture formed on a first sensor detecting one of the characteristics of exhaust gases emitted from the engine; when it is determined by the first logic that the moisture formed on the first sensor has evaporated, heating the first sensor; and performing a second logic of checking whether moisture formed on a second sensor disposed at the rear of the first sensor and detecting one of the characteristics of the exhaust gases.