Purpose <p>This study aimed to evaluate the long-term follow-up results of skin sensation alterations at the chin and lower lip in transoral robotic thyroidectomy (TORT).</p> Methods <p>We prospectively assessed the cutaneous sensation of the face and neck in 128 patients who underwent TORT using the Semmes-Weinstein monofilament test, preoperatively and postoperatively at one week, one month, three months, one year, and two years serially. Using a numerical rating scale, we also evaluated the patient’s subjective symptom score of skin sensory disturbance at the chin and lower lip.</p> Results <p>The mean pressure threshold did not differ pre- and postoperatively in the chin and lower lip innervated by the mental nerve, except in the left side of those one week postoperatively. Seventeen (15.3%) patients at the chin and 8 (7.2%) patients at the lower lip presented with an increased pressure threshold one week after surgery. The mean subjective sensory loss scores at the chin and lower lip increased significantly after surgery and remained until two years after surgery. However, there were no correlations between subjective sensory loss and pressure threshold scores.</p> Conclusion <p>TORT can be performed without permanent sensory loss at the lower lip and chin if the procedure is performed correctly with proper vestibular incisions.</p>