Multi-wall carbon nanotubes (MWCNTs)-doped polyaniline (PANI) nanopowders were prepared by chemical oxidation polymerization. Then, the MWCNTs-doped PANI nanopowders were modified by a radio frequency (RF) oxygen plasma source. The morphology and structure of modified MWCNTs-doped PANI nanorods were analyzed by SEM and FI-IR. Gas sensors were fabricated based on plasma modified MWCNTs-doped PANI nanorods to detect ammonia at room temperature. The response amplitude of the gas sensor based on modified MWCNTs-doped PANI nanorods was much higher than those of MWCNTs-doped PANI nanopowders and pure PANI nanopowders sensors, respectively, in ammonia concentration range of 10-150 ppm. Cross responses of modified MWCNTs-doped PANI nanorods sensor to ammonia, ethanol, formaldehyde, and toluene were tested. The sensor showed good selectivity and stability. The sensing mechanism of modified MWCNTs-doped PANI nanorods gas sensor was analyzed.