This paper describes the fabrication and characterization of graphene based carbon dioxide ($CO_2$) gas sensors. Graphene was synthesized by thermal decomposition of SiC. The resistivity $CO_2$ gas sensors were fabricated by pure graphene and graphene decorated Au nanoparticles (NPs). The Au NPs with size of 10 nm were decorated on graphene. Au electrode deposited on the graphene showed Ohmic contact and the sensors resistance changed following to various $CO_2$ concentrations. Resulting in resistance sensor using pure graphene can detect minimum of 100 ppm $CO_2$ concentration at $50^{circ}C$, whereas Au/graphene can detect minimum 2 ppm $CO_2$ concentration at same at $50^{circ}C$. Moreover, Au NPs catalyst improved the sensitivity of the graphene based $CO_2$ sensors. The responses of pure graphene and Au/graphene are 0.04% and 0.24%, respectively, at $50^{circ}C$ with 500 ppm $CO_2$ concentration. The optimum working temperature of $CO_2$ sensors is at $75^{circ}C$.