A sensor to determine D-mannitol based on MIP/AuNP/RGO-GCE was proposed. RGO combined with the AuNP were electrodeposited on GCE to increase the amount of imprinted locations for the formation of MIP and consequently improve the sensitivity of the sensor. The MIP sensor was electropolymerized using D-mannitol as template molecule and o-PD as monomer to determine D-mannitol. MIP/AuNP/RGO-GCE sensor was successfully applied for D-mannitol determination in sugarcane vinasse with LOD 7.7×10–13 mol L−1.