With the increasing application of continuum surgical robots, accurate shape sensing has become essential for the successful execution of surgical tasks. Previous studies have primarily focused on shape sensing in industrial soft robots with relatively large diameters. In this work, we propose a stretchable resistive electronic skin composed of three meander-pattern strain sensing units to realize shape sensing of the end continua of flexible surgical instruments. Each strain sensing unit is designed with a conductive structure prepared by a mixture of polydimethylsiloxane (PDMS), multiwalled carbon nanotubes (MWCNTs), and graphene (GR), showing excellent sensing and mechanical properties, including high linearity (0.98), good sensitivity (GF = 2.95), rapid response (188 ms) under 0–70% strain, and great stability and durability (1000 tensile cycles). Three pieces of such e-skin are integrated onto the end continuum of a compact flexible surgical instrument (9 mm diameter, 110 mm length) to verify shape sensing performance. The average shape sensing error is less than 6 mm. The current study offers a novel perspective for shape sensing of end continua in medical applications.