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The detection of formic acid vapor in the usage environment is extremely important for human health and safety. The utilization of metal-organic frameworks (MOFs) for the detection of gaseous molecules is an attractive strategy. However, the rational design and construction of MOF-based gas sensors with high sensitivity and mechanical stability remain a significant challenge. In this study, a simple approach is reported to fabricate colorimetric aerogel sensors assembled from MOF particles via ice template-assisted methods. As the aerogel sensor with staggered lamellae structures significantly provides a high air-volume intake of flowing gas, it generates a sufficient probability of contact reactions for highly mobile target molecules. Additionally, it enhances the mechanical stability by providing stress resistance between the staggered lamellae structures. Compared to conventional film sensors for the detection of formic acid molecules, aerogel sensors exhibit an 8-fold lower limit of detection, 15-fold better sensitivity at low concentrations, 34-fold faster response time, and higher stability. This approach shows great potential for rapid and real-time detection of target molecules as well as superior performance in the structural construction of various gas-sensitive materials.