The graphene patterns with piezoresistance behaviors, originating from the structural deformation and band-structure shift under strain, represent an attractive characteristic for developing the small strain (<10%) sensors for wearable devices. However, the insufficient adhesion between the patterns and substrates has significantly limited their utility and reliability. Here, the surface-embedded graphene patterns were directly deposited on polydimethylsiloxane (PDMS) surfaces without hydrophilic treatment via the embedded droplet printing (EDP). The viscous PDMS films instead of the solid ones were used as substrates, and the graphene patterns were partly embedded onto the viscous PDMS surfaces. To assess the adhesion performance, a series of tests were performed. In the bending and tensile tests, the patterns strongly adhered to the PDMS films. Further, the patterns had a favorable increase in resistance in the tensile strain range of 0–3.5%. The resistance of the surface-embedded graphene patterns exhibited a negligible change for over 3 min in the ultrasonic bath. Finally, the relative resistance R/R0 remained constant after the first two adhesion tests using a 3M tape. The surface-embedded graphene patterns exhibited a strong adhesion to the flexible/stretchable substrates, indicating the application prospect in the field of flexible devices.