We herein report a facile and scalable strategy for the fabrication of a metal–organic framework (MOF) based composite by in situ growing ZIF-8 on gold nanoparticle (AuNP) loaded magnetic carbon nanotubes (mCNTs). AuNPs were firstly loaded on PEI (polyethylenimine) modified mCNTs by electrostatic forces, and then AuNPs/mCNTs were encapsulated into the ZIF-8 frame through in situ self-assembling of zinc ions and 2-methylimidazole. The morphology, spectroscopy and structural properties of the AuNP/mCNT@ZIF-8 nanocomposites were systematically characterized. The conductivity–strain tests revealed that the in situ insertion of AuNPs/mCNTs in ZIF-8 could not only shorten the electron transfer distance between active sites and mCNTs, but also increase the dispersion of mCNTs, which would benefit the electron and mass transfer. Besides, by adopting the AuNP/mCNT@ZIF-8 nanocomposite-modified glassy carbon electrode (GCE) as the working electrode, a novel electrochemical sensor was successfully developed for the detection of bisphenol A (BPA). A linear range of BPA detection from 1 μM to 100 μM with a limit of detection of 690 nM was favorably obtained. Moreover, the developed sensor exhibited satisfactory reproducibility and superior stability with excellent anti-interference ability, and was successfully applied in the detection of BPA in real samples.