A fine cylindrical chemical sensor tip is developed with optical fiber in the core, surrounded by a transparent cylinder of photopolymer Norland Optical Adhesive 61 (NOA 61), and covered by a polymer hydrogel mixed with sensing molecules. The overall diameter is as small as 1.5 mm. pH response is demonstrated using two approaches of sensing materials: (i) absorbing probe Phenol Red mixed with Rhodamine 6G fluorescent dye and (ii) 8-hydroxypyrene-1,3,6-trisulfonic acid fluorescent probe. Both the optical excitation and fluorescence signal collection are through the optical fibers. A time resolution of 10 s is achieved for pH variations. Good linearity is observed in the physiological range from pH 7.0 to pH 8.6 with reversible and reproducible outcomes. For in vitro urea measurement, the sensor tip can distinguish 1, 3, and 5 mM urea solution, which is a crucial range in saliva urea concentration. The miniaturized tip with such simple cylindrical symmetry is designed to detect vital signs during minimally invasive surgeries and can be potentially accompanied with endoscopes to enter human bodies.