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I've left out the 1 wire sensors; hopefully you can figure out which one is the signal wire on those yourself!

Thanks to Scott Campbell for the original version of this chart. His website is gone now, but the data must live on!

 

O2 Sensor wire colors
MFR SENSOR 2 WIRE 2 WIRE 3 WIRE 3 WIRE 4 WIRE 4 WIRE FUNCTION
  MFG              
GM DELPHI VIOLET    VIOLET   VIOLET   SIGNAL +
    PINK PINK SIGNAL -
    BROWN BROWN HEATER
        BROWN   BROWN   HEATER
  DENSO BLUE   BLUE   BLUE   SIGNAL +
    WHITE WHITE SIGNAL -
    BLACK BLACK HEATER
        BLACK   BLACK   HEATER
  BOSCH     BLACK   BLACK   SIGNAL +
    GRAY SIGNAL -
    WHITE HEATER
    WHITE HEATER
FORD BOSCH     BLACK   BLACK   SIGNAL +
    GRAY SIGNAL -
    WHITE WHITE HEATER
        WHITE   WHITE   HEATER
  DENSO     BLUE       SIGNAL +
    SIGNAL -
    BLACK HEATER
        BLACK       HEATER
CHRYSLER DENSO BLUE       BLUE   SIGNAL +
  WHITE WHITE SIGNAL -
  BLACK HEATER
            BLACK   HEATER
TOYOTA DENSO BLUE BLACK BLUE   BLUE   SIGNAL +
    WHITE WHITE WHITE SIGNAL -
    BLACK BLACK HEATER
        BLACK   BLACK   HEATER
HONDA DENSO         BLUE WHITE SIGNAL +
  WHITE GREEN SIGNAL -
  BLACK BLACK HEATER
            BLACK BLACK HEATER
NISSAN U-JECS     BLACK BLACK     SIGNAL +
    SIGNAL -
    WHITE RED HEATER
        WHITE WHITE     HEATER
  BOSCH     BLACK       SIGNAL +
    SIGNAL -
    WHITE HEATER
        WHITE       HEATER
MAZDA DENSO     BLUE   BLUE   SIGNAL +
    WHITE SIGNAL -
    BLACK BLACK HEATER
        BLACK   BLACK   HEATER
  BOSCH           BLACK SIGNAL +
    GRAY SIGNAL -
    WHITE HEATER
              WHITE HEATER
MITSU DENSO     BLUE   BLUE   SIGNAL +
    WHITE SIGNAL -
    BLACK BLACK HEATER
        BLACK   BLACK   HEATER
  BOSCH         BLACK   SIGNAL +
    GRAY SIGNAL -
    WHITE HEATER
            WHITE   HEATER
O2 Sensor wire colors
MFR SENSOR 2 WIRE 2 WIRE 3 WIRE 3 WIRE 4 WIRE 4 WIRE FUNCTION
  MFG              
SUZUKI DENSO         BLUE   SIGNAL +
    WHITE SIGNAL -
    BLACK HEATER
            BLACK   HEATER
  DELPHI     VIOLET       SIGNAL +
    SIGNAL -
    BROWN HEATER
        BROWN       HEATER
SUBARU U-JECS     BLACK BLACK     SIGNAL +
    SIGNAL -
    WHITE RED HEATER
        WHITE WHITE     HEATER
  BOSCH     BLACK       SIGNAL +
    SIGNAL -
    WHITE HEATER
        WHITE       HEATER
ISUZU DENSO     BLUE   WHITE WHITE SIGNAL +
    BLUE GREEN SIGNAL -
    BLACK BLACK BLACK HEATER
        BLACK   BLACK BLACK HEATER
  DELPHI     VIOLET       SIGNAL +
    SIGNAL -
    BROWN HEATER
        BROWN       HEATER
  BOSCH     BLACK       SIGNAL +
    SIGNAL -
    WHITE HEATER
        WHITE       HEATER
VW AUDI BOSCH BLACK BLACK SIGNAL +
       GRAY SIGNAL -
  WHITE WHITE HEATER
                 
BENZ BOSCH     BLACK   BLACK   SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
        WHITE   WHITE   HEATER
BMW BOSCH BLACK BLACK SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
        WHITE   WHITE   HEATER
PORSCHE BOSCH     BLACK   BLACK   SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
  WHITE WHITE HEATER
                 
ALFA BOSCH     BLACK   BLACK   SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
        WHITE   WHITE   HEATER
VOLVO BOSCH     BLACK   BLACK   SIGNAL +
  GRAY SIGNAL -
  WHITE HEATER
            WHITE   HEATER
SAAB BOSCH     BLACK   BLACK   SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
        WHITE   WHITE   HEATER
O2 Sensor wire colors
MFR SENSOR 2 WIRE 2 WIRE 3 WIRE 3 WIRE 4 WIRE 4 WIRE FUNCTION
  MFG              
RENAULT BOSCH     BLACK   BLACK   SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
        WHITE   WHITE   HEATER
JAGUAR BOSCH     BLACK       SIGNAL +
  SIGNAL -
  WHITE HEATER
  WHITE HEATER
  DENSO BLUE       BLUE   SIGNAL +
  WHITE WHITE SIGNAL -
  BLACK HEATER
            BLACK   HEATER
HYUNDAI KEFICO BLACK   BLACK   BLACK   SIGNAL +
    GRAY GRAY SIGNAL -
    WHITE WHITE HEATER
        WHITE   WHITE   HEATER
  NGK             SIGNAL +  
    SIGNAL -
    HEATER
                HEATER
KIA DENSO BLUE SIGNAL +
    WHITE SIGNAL -
    BLACK HEATER
            BLACK   HEATER
  BOSCH BLACK BLACK SIGNAL +
  GRAY SIGNAL -
  WHITE WHITE HEATER
        WHITE   WHITE   HEATER
  STANDARD     BLACK       SIGNAL +
  SIGNAL -
  WHITE HEATER
        WHITE       HEATER
  ECHLIN     BLACK       SIGNAL +
  SIGNAL -
  WHITE HEATER
        WHITE       HEATER