Based on hydrogen bonding, the highly uniform polyaniline (PANI) nanotubes were synthesized by self-assembly method using citric acid (CA) as the dopant and the structure-directing agent by optimizing the molar ratio of CA to aniline monomer (Ani). Synthesis conditions like reaction temperature and mechanical stirring were considered to explore the effects of hydrogen bonding on the morphologies. The effects of CA on the final morphology of the products were also investigated. The as-synthesized CA doped polyaniline (PANI) nanomaterials were further deposited on the plate electrodes for the test of gas sensing performance to ammonia (NH3). The sensitivity to various concentrations of NH3, the repeatability, and the stability of the sensors were also tested and analyzed. As a result, it was found that the PANI nanomaterial synthesized at the CA/Ani molar ratio of 0.5 has highly uniform tubular morphology and shows the best sensing performance to NH3. It makes the PANI nanotubes a promising material for high performance gas sensing to NH3.