In this paper, a high-sensitivity fiber Bragg grating (FBG) tilt sensor using a cantilever-based structure is introduced. Two FBGs are fixed on a specially designed elastomer. One end of the elastomer is connected to the mass block, and the other end is connected to the shell. The principle of the tilt sensor is introduced in detail, and the mathematical model is established. The performance of the sensor is studied. The results show that there is a good linear relationship between the central wavelength difference of the two FBGs and the tilt angle in the range of -5° to 5°. The repeatability of the sensor is good, and the tilt sensitivity can reach 231.7 pm/°. The influence of the silicone oil on the damping capacity of the sensor is studied. The results show that the damping capacity of the sensor has been improved by sealing the silicone oil inside the shell of the sensor. The field test is carried out on a pier of an elevated bridge, and the result is good, which verifies the practicability of the sensor.