This paper reported a dual-mode probe for D-penicillamine on the basis of pH-mediated gold nanoparticles aggregation and fluorescence resonance energy transfer (FRET) from carbon dots. D-penicillamine is a zwitterionic compound and has different forms depending on specific pH ranges. The thiol group of D-penicillamine has high affinity towards the surface of gold nanoparticles and can replace other surface ligands. When pH values were close to its isoelectrical point (pH(I)), the D-penicillamine capped gold nanoparticles aggregated through hydrogen bonding or electrostatic interactions, resulting in the releasing of carbon dots from gold nanoparticles. The dual-mode probe consisted of fluorescent carbon dots and gold nanoparticles, and the fluorescence of carbon dots was quenched by the attached gold nanoparticles due to the FRET. Then, the fluorescence can be recovered in presence of D-penicillamine due to the gold nanoparticles aggregation in specific pH range. Under the optimum conditions, the probe has linear response for D-penicillamine in the 0.25-1.5M concentration range with a detection limit of 0.085M. This method provides a potential application in sensitive detection of D-penicillamine.