Molecularly imprinted fluorescent sensors are of interest to researchers due to their specificity, high sensitivity, and stability. In this study, the fluorescence-imprinted sensor (NH2-MIL-53/MIP) for the detection of tetracycline (TC) in animal-derived foods was developed based on the characteristics of luminescent metal-organic frameworks (MOFs) and molecularly imprinted polymers (MIPs). The MOFs provide fluorescence sensing signals and large specific surface areas, while the MIPs provide the specific recognition sites for TC. As a result, the sensor exhibits a wide detection range (0.05–50 μg/mL), high sensitivity (LOD of 0.006 μg/mL), fast detection speed and good selectivity. The sensing principle can be attributed to photoinduced electron transfer. Furthermore, the sensor can determine TC in milk with good recovery rates (95.05–104.71 %). This work addresses the limitation of current molecularly imprinted sensors such as slow corresponding speed and limited detection capability, providing valuable insights for target determination in complex systems.