This paper presents a wearable and stretchable detector for simultaneous finger joint motion measurement, providing the feasible technical solutions to solve the problems existing in the current devices. The sensor array installed in the detector consists of 14 custom-made bending sensors and an inertial measurement unit with high accuracy. The glove support for a sensor array, which is made of three silicone materials with different elasticity, not only overcomes the drawbacks of cloth support, but also addresses the compatibility between the stretch substrate and the inelastic sensing components. Besides, two-section electrical connection avoids the problems caused by the external wires in traditional solutions to enhance the durability of glove. The experiment results indicated that the wearable detector offers a good user experience by exerting a small force on fingers. The device also shows a strong durability as it worked properly after tens of thousands of bending. The measurement tests on a single sensor demonstrated that two kinds of sensors are both with high accuracy. Besides, the hand goniometric system has an excellent performance in terms of hand motion detection. The measurement error of the device in subjects with different hand sizes is within a reasonable range. The good properties of the sensory detector allow it to be applied in clinical applications.