Embodiments of the present disclosure are directed to vehicles and vehicle roof structures for concealing one or more sensors. Vehicle roof structures according to the present disclosure include a roof panel and a window extending at least up to the roof panel. A headliner extends along an interior portion of the roof panel to the window and is at least partially spaced from the roof panel in a direction of an interior of the vehicle to provide a sensor mounting volume therebetween, wherein the window extends along at least a portion of the sensor mounting volume. One or more sensors are positioned behind the window within the sensor mounting volume to provide a signal indicative of a characteristic of an environment of the vehicle detected by the one or more sensors through the window.