Rapid, on-site detection of emerging pollutants is critical for monitoring health threats and the environment, especially if performed through autonomous systems. In this paper, we report on a new design of a complete electrochemical system whose working (WE), auxiliary (AE) and reference (RE) electrodes were obtained on a pen (PEN Sensor) made with graphite:polyurethane (GPUE). Working electrodes were decorated with spherical, ca. 200 nm silver nanoparticles (AgNPs) reduced on graphite using the polyol method. Differential pulse voltammetry (DPV) was used to detect bisphenol-A (BPA) in a linear range from 2.5 to 15 μmol L⁻¹ with detection limit of 0.24 μmol L⁻¹. The PEN Sensor could also detect bisphenol-A in tap and river water samples, with satisfactory reproducibility and repeatability, while common interferents did not affect electrooxidation of bisphenol-A. The high sensitivity and rapid detection are suitable for real-time analysis and in loco monitoring of emerging pollutants. With their robustness and versatility, PEN Sensors such as those fabricated here may be integrated into futuristic smart robotic systems.