Pressure sensors based on graphene conductive fillers show great promise for application in the field of smart wearable devices. The SBS@rGO structured aerogel sensors covered herein were prepared by the Pickering emulsion method based on a solution of styrene-butadiene-styrene (SBS) and reduced graphene oxide (rGO) dispersion. The mechanical properties of SBS@rGO aerogel were tested with 100 independent loading-unloading cycles in a graded compressive strain range of 10–40 %. The results indicate that the SBS@rGO aerogel have fast and slightly destructive resilience after unloading at low compressive strains (ε ≤ 30 %). Moreover, the presence of rGO endowed SBS@rGO with pressure sensing properties such as high electrical conductivity (2.294 S/m), high sensitivity (0.016 kPa−1 at 6.36–100 kPa), short signal response time (60 ms) and recovery time (30 ms). The SBS@rGO pressure sensors were integrated into shoe soles to simulate walking scenes, whose response signals had excellent reproducibility and could be differentiated according to three different walking states. The potential and feasibility of SBS@rGO aerogel as wearable flexible pressure sensors has been demonstrated.