Glucose measurement is a fundamental tool in the daily care of Diabetes Mellitus (DM) patients and healthcare professionals. While there is an established market for glucose sensors, the rising number of DM cases has promoted intensive research to provide accurate systems for glucose monitoring. Polyaniline (PAni) is a conductive polymer with a linear conjugated backbone with sequences of single C-C and double C=C bonds. This unique structure produces attractive features for the design of sensing systems such as conductivity, biocompatibility, environmental stability, tunable electrochemical properties, and antibacterial activity. PAni-based glucose sensors (PBGS) were actively developed in past years, using either enzymatic or non-enzymatic principles. In these devices, PAni played roles as a conductive material for electron transfer, biocompatible matrix for enzymatic immobilization, or sensitive layer for detection. In this review, we covered the development of PBGS from 2015 to the present, and it is not even exhaustive; it provides an overview of advances and achievements for enzymatic and non-enzymatic PBGB PBGS for self-monitoring and continuous blood glucose monitoring. Additionally, the limitations of PBGB PBGS to advance into robust and stable technology and the challenges associated with their implementation are presented and discussed.