In this study, the potentiometric arrayed glucose biosensors, which were based on zinc oxide (ZnO) or aluminum-doped zinc oxide (AZO) sensing membranes, were fabricated by using screen-printing technology and a sputtering system, and graphene oxide (GO) and Nafion-glucose oxidase (GOx) were used to modify sensing membranes by using the drop-coating method. Next, the material properties were characterized by using a Raman spectrometer, a field-emission scanning electron microscope (FE-SEM), and a scanning probe microscope (SPM). The sensing characteristics of the glucose biosensors were measured by using the voltage-time (V-T) measurement system. Finally, electrochemical impedance spectroscopy (EIS) was conducted to analyze their charge transfer abilities. The results indicated that the average sensitivity of the glucose biosensor based on Nafion-GOx/GO/AZO was apparently higher than that of the glucose biosensor based on Nafion-GOx/GO/ZnO. In addition, the glucose biosensor based on Nafion-GOx/GO/AZO exhibited an excellent average sensitivity of 15.44 mV/mM and linearity of 0.997 over a narrow range of glucose concentration range, a response time of 26 s, a limit of detection (LOD) of 1.89 mM, and good reproducibility. In terms of the reversibility and stability, the hysteresis voltages (V-H) were 3.96 mV and 2.42 mV. Additionally, the glucose biosensor also showed good anti-inference ability and reproducibility. According to these results, it is demonstrated that AZO is a promising material, which could be used to develop a reliable, simple, and low-cost potentiometric glucose biosensor.