This paper presents a surface plasmon resonance (SPR) sensor utilizing a prism-coupled Ag/ZnSe/BP hybrid structure with improved sensitivity for glucose detection in urine samples. In this Kretschmann configuration, multilayers are vertically stacked together to improve the optical and electronic properties of the proposed SPR sensor. The transfer matrix method (TMM) is used for the theoretical model and to analyze the performance of the sensors. The proposed SPR sensor comprises 2D materials such as black phosphorus (BP), which improve the sensitivity of the SPR-based sensor through efficient interactions with biomolecules. The resonance angle of surface plasmons shifts due to a difference in the refractive index from 1.330 to 1.337 in urine samples with various glucose levels. Initially, the study aims to compare the sensor performance parameters among different prisms (CaF2, BK7, FK51A, and SF10) coupled with a hybrid structure. The proposed sensor achieved a noticeably higher value sensitivity of 511 (deg./RIU), a quality factor of 108.377 (1/RIU), and a figure of merit of 108.374 when a CaF2 prism with an optimized thickness was used. The performance parameters, including the sensitivity, full width at half maximum (FWHM), figure of merit (FoM), and detection accuracy (DA), were measured, and the results were compared to evaluate the findings. The proposed structure can be more effective in detecting different liquid analytes in biosensing applications, including glucose detection.