This study presents a simple route to heparin detection and develops a voltammetric approach using supramolecular principles and nanomaterials. Nanocomposites, including gold nanoparticles (AuNPs) and γ-substituted pentamethinium salts (PMS) deposited on a glass carbon (GC) electrode surface (GC/AuNPs/PMS) and covered by a plasticized poly(vinyl chloride) (PVC) membrane, are proposed for heparin detection. The conductivity of the nonconducting PVC-plasticized membrane is guaranteed by AuNPs, and the selectivity is provided by the interaction between γ-substituted PMS and anionic analytes. In order to extend the linear range, it is necessary to apply a solvent compatible with PVC-plasticized membrane, namely tetrahydrofuran. The proposed voltammetric sensor showed a concentration dependence from 1.72 up to 45.02 IU mL−1 heparin and was used for heparin detection in saline and biological samples with recovery of 95.1–100.9%.