Developing advanced flexible supercapacitors with high energy and power density is a critical research goal. One promising approach involves combining manganese dioxide (MnO2) with a three-dimensional carbon substrate. This strategy leads to the creation of supercapacitor electrode materials that exhibit high specific capacitance, stability, and environmental friendliness. However, the challenge lies in addressing the low electrical conductivity of MnO2, which limits the rate of electron transfer. The incorporation of metal ions enhances the conductivity of manganese oxide, resulting in a significant increase in lattice defects. These defects create abundant active sites for energy storage. In this study, we developed flexible electrodes based on magnesium-doped MnO2, zinc-doped MnO2, and magnesium-zinc codoped MnO2 nanostructures deposited on carbon cloth (CC) via a one-step hydrothermal method. The supercapacitive behavior of these electrodes was investigated using CV and GCD measurements. The as-prepared electrodes exhibit good electrical conductivity, and their interconnected network structure, composed of sponge-shaped nanostructure layers, results in a large specific surface area. This network also facilitates efficient pathways for effective electron transport. The optimized Mg-Zn codoped MnO2@CC sample exhibits a high capacitance of 79.9 mF/cm² at 0.7 mA/cm² and good rate performance, reaching around 46.59 mF/cm² up to 1.5 mA/cm² in the three-electrode system. Notably, the areal capacitance values calculated from the CV curves for all Mg-Zn codoped MnO2@CC electrodes surpass those of Mg-doped MnO2@CC and Zn-doped MnO2@CC. A flexible symmetric supercapacitor assembled using the best Mg-Zn codoped MnO2@CC as both positive and negative electrodes and PVA-Na2SO4 gel electrolyte delivers a desirable energy density of 0.196 mWh/cm2 at 2.38 mW/cm2. Furthermore, this fabricated supercapacitor demonstrates a broad voltage window of 2.25 V and remarkable cycling stability, retaining 83 % of its initial performance after 4000 charge-discharge cycles.