Titania nanotubes have been widely used in gas sensing applications such as hydrogen sensors. Doping titania nanotubes with other elements are expected to provide tunable band-gap and thus favorable hydrogen sensing properties. In this work, Nb, Zr-doped titania nanotube arrays in crystallized states were fabricated on alloy substrates through anodization and heat-treatment. And doped nanotube sensors were assembled on PCB. Corresponding anodization and sensor fabrication processes were investigated and hydrogen sensing properties of the nanotube sensors were tested in hydrogen atmosphere. Experimental results indicated that the content of Zr had a great impact on the growth, thermal stability and hydrogen sensing property of regular nanotube arrays. The Nb-doped nanotubes demonstrated a good hydrogen sensing performance.