Digital microfluidic biochips maximize the possibilities in modern healthcare applications, such as point-of-care (POC) tests and immunoassays. Because of the error-prone biochemical experiments, cyber-physical digital microfluidic biochips with sensor integration is essential. However, the correctness of bioassays is closely related to the actuating times of electrodes, which should be taken care of during the module placement stage. Moreover, sensor constraint in sensor planning should also be considered to avoid sensing errors. This paper presents the first module and sensor co-placement algorithm of cyber-physical digital microfluidic biochips while considering the sensor constraint and minimizing the actuating times of electrodes. The experimental results show that we can effectively minimize the bioassay completion time and satisfy the sensor constraint.