Nondestructive damage sensitivity of carbon nanotube(CNT) and nanofiber (CNF)/epoxy composites with their adding contents was investigated using electro-micromechanical technique. Carbon black (CB) was used only for the comparison with CNT and CNF. The fracture of carbon fiber was detected by acoustic emission (AE), which was correlated to the change in electrical resistance, ΔR under double-matrix composites (DMC) test. Stress sensing on carbon nanocomposites was performed by electro-pullout test under uniform cyclic loading. At the same volume fraction, the damage sensitivity for fiber fracture, matrix deformation and stress sensing were highest for CNT/epoxy composite, whereas for CB/epoxy composite they were the lowest among three carbon nanomaterials (CNMs). Damage sensitivity was correlated with morphological observation of carbon nanocomposites. Homogeneous dispersion among CNMs could be keying parameters for better damage monitoring. In this study, damage sensing of carbon nanocomposites could be evaluated well nondestructively by the electrical resistance measurement with AE.