A highly conductive yarn was developed by electroless deposition of copper metal particles on the polyamide 6 yarn. The successful incorporation of Cu particles into the substrate was revealed by surface and elemental characterizations. The Cu/PA 6 yarn exhibited superior electrical conductivity (2.3 Ω/cm) with improved mechanical properties. The excellent electromechanical properties demonstrated by the Cu/PA 6 composite revealed its sensing capacity for a wide range of strains. Therefore, the composite yarn was affixed to the different regions of the human body and was capable of successfully monitoring various human motions, including finger bending, wrist bending, knee bending, drinking, and writing. In addition, rapid heat generation with high and uniform surface temperature (66.3 °C at 4.0 V in 45 s) validated the potential of the Cu/PA 6 yarn for wearable thermal heating devices. Moreover, rapid heating at a lower voltage, when attached to a wristband, revealed the capability of the composite yarn for localized heating or region-specific temperature regulation for personalized healthcare or comfort. This study informs a facile and effective strategy for developing robust yarn-shaped e-textiles for advanced wearable sensing and thermal heating.