A yarn‐based capacitive torsion sensor was produced using a simple electrospinning coating method. It was expected that nonwoven nanofiber mats, as a coating layer, would exhibit excellent performance owing to their high surface area and porous three‐dimensional nonwoven structure, which is more deformable than that of films. The electrospinning process was investigated by image analysis to generate a suitable structure of the nanofiber coating layer. The thickness of the layer was controlled by varying the electrospinning coating time (10, 20 and 30 min). Yarn sensors with coating layers of different thicknesses were manufactured by twisting two coated fibers, while simultaneously measuring the capacitance. The best sensitivity was observed with the 10 min coated yarn, due to the largest valid twist level range. It is proposed that the distance between the electrodes and the dielectric constant of the material play an important and complex role in the capacitive response of the twisted yarn, caused by the porous three‐dimensional nonwoven structure of the coated layer and the molecular mobility of the polymer. This simple coating method is expected to be useful in a wide range of applications, such as wearable devices, by facilitating convenient fabrication and repair of the flexible sensors. Moreover, high performance of the sensor could be realized due to the structural advantage of the sensing layer. © 2019 Society of Chemical Industry