Ratiometric fluorescent sensors could effectively eliminate the interference of spontaneous fluorescence or instrument fluctuation to improve the analysis sensitivity and accuracy. In this work, a dual-emission nitrogen-doped carbon dots/AuNCs (NCDs-AuNCs) nanohybrid was fabricated under mild conditions by the hydrothermal method, without additional coupling agents, which is facile and environmentally friendly. The prepared nanohybrid was employed for the sensitive detection of Pb2+. The sensor exhibited dual emission peaks at 460 and 625 nm with efficient fluorescence resonance energy transfer under a single excitation wavelength of 360 nm, in which the red fluorescence of AuNCs was enhanced and the blue fluorescence of NCDs was slightly quenched with the presence of Pb2+. The quantitative analysis of Pb2+ was performed upon the change of both fluorescence intensities. The sensor was successfully used for Pb2+ detection in real water samples with satisfactory spiking recoveries in a range of 91.0%–101.3% and low relatively standard deviations (RSDs < 3%), which exhibited good selectivity and anti-interference ability. In addition, a paper-based sensor was fabricated by immobilizing the nanohybrids on filter paper, which enables the visual semi-quantitative determination of Pb2+ by the naked eye through the color transition from blue to pink. The prepared NCDs-AuNCs nanohybrids showed great application potential in environmental water monitoring in an efficient and green way.