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Cloud Robotics is currently driving interest in both academia and industry. It allows different types of robots to share information and develop new skills even without specific sensors. They can also perform intensive tasks by combining multiple robots with a cooperative manner. Multi-sensor data retrieval is one of the fundamental tasks for resource sharing demanded by Cloud Robotic system. However, many technical challenges persist, for example Multi-Sensor Data Retrieval (MSDR) is particularly difficult when Cloud Cluster Hosts accommodate unpredictable data requested by multi robots in parallel. Moreover, the synchronization of multi-sensor data mostly requires near real-time response of different message types. In this paper, we describe a MSDR framework which is comprised of priority scheduling method and buffer management scheme. It is validated by assessing the quality of service (QoS) model in the sense of facilitating data retrieval management. Experiments show that the proposed framework achieves better performance in typical Cloud Robotics scenarios.