The aim of this research is to develop an electrochemical sensor based on a conducting polymer, polyaniline, and a cationic polymer, poly(diallyldimethylammonium chloride), reinforced with graphene oxide nanosheets functionalized with acrylic acid. The two-dimensional nature of acrylic acid functionalized graphene oxide nanosheets and clusters made of conductive polymers and acrylic acid functionalized graphene oxide nanosheets were confirmed by microscopic tests. The prepared nanocomposite was deposited on the glassy carbon electrode in order to prepare an electrochemical sensor for the detection of arsenic by cyclic voltammetry and differential pulse voltammetry methods. It should be mentioned that the presence of acrylic acid functionalized graphene oxide nanosheets increases the surface area due to the nano size effect and better dispersion of this nanomaterial, poly(diallyldimethylammonium chloride), increases the adsorption capacity of the analyte due to electrostatic interaction between the negatively charged analyte and positively charged surface, and polyanilin increases the charge transfer rate due to the good conductivity. The results show that the prepared electrode has a sensitivity equal to 1.79 A/M with 0.12 μM as the detection limit. The proposed sensor could be used for the determination of total inorganic arsenic by first oxidative pretreatment for conversion of As(III) to As(V).