A multilayer structure based on Dirac semimetals is investigated, where long-range surface plasmon resonance (LRSPR) of a dielectric layer/Dirac semimetal/dielectric layer are coupled with surface plasmon polaritons (SPPs) on graphene to substantially improve the Goos–Hänchen (GH) shift of Dirac semimetals in the mid-infrared band. This has important implications for the study of mid-infrared sensors. We studied the reflection coefficient and phase of this multilayer structure using a generalized transport matrix. We established that subtle changes in the refractive index of the sensing medium and the Fermi energy of the Dirac semimetal significantly affected the GH shift. Our numerical simulations show that the sensitivity of the coupling structure is more than 2.7×107 λ/RIU, which can be used as a potential new sensor application. The novelty of this work is the design of a tunable, highly sensitive, and simple structured mid-infrared sensor that takes advantage of the excellent properties of Dirac semimetals.