In the present study, nanocrystalline ceria powder and 10 mol% zirconia-doped ceria (10ZDC) powder were prepared by co-precipitation method from cerium nitrate and zirconium nitrate precursors. The resulting particles with irregular shapes were printed onto alumina substrate for the investigation of oxygen gas sensing behavior. The coating morphology of 10ZDC with a network structure revealed a better connection enhancing the sensing properties. Zirconia doping tended to inhibit the grain growth and decrease the lattice constant of ceria. Such effects may improve the electrical conductivity of 10ZDC under different oxygen partial pressures and shorten the response time of 10ZDC to the change of oxygen partial pressure.