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This paper addresses the challenge of mitigating low-frequency flow noise signals in autonomous underwater vehicles through the optimization of a placoid-scale skin. Drawing inspiration from the bio-inspired surface features of cylindrical shell structures, an enhanced design of placoid-scale skin is developed using 3D printing technology. This improved structure effectively reduced boundary layer vortices and wake intensity, thereby contributing to the suppression of low-frequency flow noise signals. Experimental results demonstrate that the notable reduction in low-frequency flow noise within the frequency range of 0–500 Hz, with average noise reduction of approximately 5 dB observed at 150 Hz. This reduction is validated by a combination of numerical simulations and experimental testing, confirming the efficacy of the optimized placoid-scale skin in attenuating the low-frequency flow noise associated with uniformly advancing turbulent boundary layers underwater.