Different polyamic acid (PAA) modified sensors for hydrogen peroxide (H2O2) detection were prepared and characterized. Electro-deposition of a chemically synthesized PAA solution was used for modification of glassy-carbon electrode, while drop-casting was used for carbon (CSPE), gold (Au-SPE) and gold nanoparticles (AuNPs-SPE) screen-printed electrodes modification. All the studies performed, including the cyclic voltammetry, electrochemical impedance spectroscopy, amperometry revealed the best analytical performances of the PAA/Au-SPE electrode with a specific sensitivity of 899μAmM−1cm−2 and a detection limit of 2μM hydrogen peroxide. The PAA/Au-SPE sensor exhibited a good selectivity for the determination of H2O2 in synthetic urine samples, and could be used to control the oxidative stress of the body.