Heavy metal ions pollution has become of worldwide critical concern, thus, it is particularly important to monitor it in the environment and food for ensuring human health. In this study, p-phenylenediamine and 2-mercaptothiazoline were used to prepare nitrogen (N) and sulfur (S) co-doped carbon dots (N/SCDs) for fluorescent and colorimetric detection of Cu2+. The fabricated N/SCDs with bright green fluorescence showed excellent optical characteristics and favorable water solubility. In an aqueous system, a significant fluorescence quenching of N/SCDs at 512 nm is obtained in the presence of Cu2+. It also caused a significant colorimetric response with the color of prepared N/SCDs solution changed from colorless to yellow. Under optimal conditions, the analytical results showed that the linear range spanning from 5 to 400 μM, with a detection limit of 0.215 μM in fluorescence and 0.225 μM in colorimetric detection. In addition, N/SCDs displayed high selectivity toward Cu2+. No obvious interference was observed over other metal ions. Furthermore, we have also used N/SCDs to monitor Cu2+ in tap and lake water. The recovery of Cu2+ ranged between 89.6% and 113.1%. Exhibiting remarkable sensitivity and selectivity, the designed sensor offers a promising detection method for Cu2+ detection in the real sample.