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This study is concerned with the fault detection (FD) problem for a class of networked control systems (NCSs) with finite-frequency servo inputs and random packet dropouts. Considering the sensor stuck faults, the NCSs are firstly modelled as multi-models with a stochastic parameter. The notion of finite-frequency stochastic H− index is subsequently introduced to measure the sensitivity of the residuals, and sufficient conditions guaranteeing the stochastic system to be with such performances are derived. Then with the aid of these conditions, a novel FD scheme is developed such that it is valid for the possible packet dropouts and all admissible sensor faults. In addition, new convex conditions in terms of linear matrix inequalities, which can be reduced to some previous results, are presented to cope with this FD problem. Finally, an example is given to illustrate the method and its effectiveness.