A simple and one-pot synthetic procedure using two different sources has been demonstrated to prepare heteroatoms doped reduced graphene oxide such as nitrogen-doped reduced graphene oxide (N-RGO) and sulfur-doped reduced graphene oxide (S-RGO). The N-RGO has been hydrothermally synthesized using urea as nitrogen precursor, wherein the S-RGO has been synthesized using dimethyl sulfoxide (DMSO) as sulfur precursor. The successful N-doping, S-doping and other physicochemical properties of N-RGO and S-RGO have been confirmed with different spectroscopic and electrochemical techniques. The results indicated that doping into the graphene structure exhibits a high conductivity and a better transfer of charge. Moreover, heteroatoms doped graphene (N-RGO and S-RGO) and graphene-related materials (RGO) have been applied for the individual detection of uric acid (UA). Interestingly, the N-RGO exhibited a lower limit of detection (LOD, S/N = 3) of 2.7 10– 5 M for UA (10–1000 μM) compared with undoped RGO and S-RGO. Furthermore, the simultaneous detection of UA in the presence of Xanthine (XA) has been demonstrated a wide linear range of detection for UA: 10–1000 μM, with unchanged concentration of XA to be 200 μM, and exhibited a low limit of detection of 8.7 10− 5 M ( S∕N = 3) for UA. This modified sensor based on N-RGO has revealed a high selectivity and reproducibility thanks to its large surface area, high catalytic properties, and chemical structure. Indeed, the practical applicability of the proposed sensor has been evaluated in milk samples even in the presence of high concentrations of UA with satisfactory results.