Glaucoma is the second leading cause of blindness in the world. Intraocular pressure (IOP) is a primary indicator of glaucoma which can be measured for the treatment of the disease. This paper presents a piezo-resistive principle pressure sensor to monitor IOP continuously and non-invasively. The sensor is designed based on the Wheatstone bridge circuit and fabricated by the spray-coating method. The hybrid nanomaterials of graphene and carbon nanotubes are introduced as sensing layers which are embedded inside the soft contact lens substrate composed of flexible polydimethyl siloxane (PDMS) and parylene. The sensing performance is discussed followed by a brief description of our sensor design and fabrication. Tests on a PDMS eyeball model indicate that it has a high sensitivity of 36.01 μV mmHg. Also, the frequency response and the ability to track dynamic pressure change cycles are demonstrated in normal IOP variation range from 9 to 34 mmHg. It shows good repeatability and linearity, and can accurately track fluctuating IOP. Thus, this sensor, with its ease of fabrication and simple design, as well as allowance for continuous pressure measurement, offers a promising approach for IOP monitoring in clinical diagnosis of glaucoma.