Self-healing materials can increase the lifetime of products and improve their sustainability. However, the detection of damage in an early stage is essential to avoid damage progression and ensure a successful self-healing process. In this study, self-healing sensor composite strips were developed with the embedding of a thermoplastic styrene-based co-polymer (TPS) sensor in a self-healing matrix. Piezoresistive TPS sensor fibers composites (SFCs) and 3D printed sensor element composites (SECs) were fabricated and embedded in a self-healing matrix by lamination process to detect damage. In both cases, the value of the initial resistance was used to detect the presence of damage and monitor the efficiency of healing. A higher elongation at fracture could be achieved with the extruded sensor fibers. However, for the composite strips the SECs could achieve a higher elongation at fracture. Mechano-electrical analysis revealed that the strips maintained a monotonic, reproducible response after the healing of the matrix. The SFCs had significantly lower drift of the sensor signal during cyclic mechanical analysis. Nevertheless, on a tendon-based soft robotic actuator, the SECs obtained a drift below 1%. This was explained by the lower deformation (e.g.) strain in comparison to the tensile test experiments.