Periodic patterns such as locomotion and breathing are believed to be generated by neural circuits known as central pattern generators (CPGs). In this study, we construct a CPG using spiking neurons with sensory feedback. The proposed spiking CPG autonomously generates periodic rhythms and adjusts the cycle of its activity according to the intensity of the bias current, which corresponds to higher-level commands. Furthermore, it modifies its activity pattern in response to sensory input, enabling quadruped locomotion in a self-organized manner. Although the structure of the spiking CPG is simple, it can achieve adaptive gait generation by integrating feedback from the environment, command inputs from higher centers, and the spiking CPG’s activity.