This paper presents the design, fabrication, and characterization of a D-shaped fiber coated with polyvinyl alcohol (PVA) embedding an Au grating-based relative humidity (RH) sensor. The Au grating is fabricated on a D-shaped fiber to match the wave-vector and excite the surface plasmon, and the PVA is embedded in the Au grating as a sensitive cladding film. The refractive index of PVA changes with the ambient humidity. Measurements in a controlled environment show that the RH sensor can achieve a sensitivity of 5.4 nm per relative humidity unit in the RH range from 0% to 70% RH. Moreover, the surface plasmon resonance can be realized and used for RH sensing at the C band of optical fiber communication instead of the visible light band due to the metallic grating microstructure on the D-shaped fiber.