Na2Ti3O7 nanotubes was synthesized by a hydrothermal method, and characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), and transmission electron microscopy (TEM). Then the material was coated on Al2O3 ceramic substrate to fabricate humidity sensors using Ag-Pd as interdigitated electrodes. The sensor shows high humidity sensitivity and quick response-recovery time. The impedance changes about five orders of magnitude within humidity range from 11% to 95% relative humidity (RH). At the frequency of 100 Hz, the response time is 2 s and recovery time is 4 s, and the maximum hysteresis is less than 3% RH. Moreover, complex impedance property at different RH was investigated to study sensing mechanism. The results indicate the potential applications of Na2Ti3O7 nanotubes for fabricating high-performance humidity sensors.