Nanozymes, a class of catalytic nanomaterials, have shown great potential to substitute natural enzymes in various applications. Nevertheless, the pursuit of high-efficiency peroxidase-like activity in a wide pH range is one of the major challenges existing in designing nanozymes. A feasible strategy is to construct an artificial active center by using porous materials as stable supporting structures, which can actively modulate biocatalytic activities via their porous atomic structures and more active sites. Herein, a gold nanoparticles/metal–organic framework (MOF) heterostructure was prepared using UiO-66 as a stable support structure (Au NPs/UiO-66), which demonstrates enhanced peroxidase-like activity, ∼8.95 times higher than that of pure Au NPs. Strikingly, Au NPs/UiO-66 exhibits excellent stability (maintains above 80% activity at 40–70 °C and retains 93% activity after 3 months of storage) and sustained high relative activity (above 90%) over a pH range of 5.0–9.0 due to the homogeneous dispersibility of free-ligand Au NPs and the strong chemical interaction between the Au NPs and the UiO-66 host. Moreover, a colorimetric assay of ascorbic acid (AA) and three AA-related biological enzymes was developed based on Au NPs/UiO-66 nanozyme, which has a good linear detection range and excellent anti-interference ability. This work provides important guidance for the expansion of metal NPs/MOF heterostructure nanozymes and their application prospects in the development of biosensors.