How can I get 24V signal from a sensor output having pulses of 5V?

 

By providing more information so we have a clue what you are talking about.

What sensor? what are you doing exactly?

 

Welcome to AAC.
What sort of 'signal' at 24V?
What will this 'signal' be used for?
What power supplies (batteries, wall-warts etc) do you have available to power any electronics that may be needed to generate/use 24V?

 

Logic level Mosfet.
If open collector you need a pull up resistor.
Max.