The multi-scale structure of yarns and fabrics is expected to provide unlimited possibilities for the integration of different performances and functions, which is expected to open up new opportunities for more complex and variable intelligent scenarios in the future. However, how to customize multi-functions through effective regulation and stabilization of several different units and composites in a highly integrated way still remains a great challenge. Herein, a torsional highly-integrated yarn with outstanding orientation selective sensing ability and robustness was achieved through a large-scale multi-unit friction spinning technology. Owing to the cooperative torsion structure of core layer (highly-stretchable spandex), middle layer (tight helical conductive metal wire) and the shell layer (polyester microfiber network massively composite with carbon nanotubes), the integrated yarn possesses outstanding orientation selective sensing ability. Different from directly coating strategies, the multilayer yarns with tight helical metal wire could be reversibly stretched up to 300 % with an almost consistent resistance (only varies 2.11 %), while which is highly sensitive to the vertical stress (5 kPa with 98.4 %) owing to the series–parallel behaviors between different layers. The sensitivity of the developed yarn in wind and sand monitoring and friction collision sensing endows it with a broad application prospect for protecting and early warning of human body and precision equipment. This work may provide a valuable integrated-solution for future intelligent fabric design for complex scenes.