This paper describes structural design of a slim and flexible tactile sensor which has a three-dimensional table-shaped sensing part to equip intelligent robot’s finger tips. We propose new design approach to improve the performance of the sensor and experimentally demonstrate full polymer-based tactile sensor which can detect three-dimensionally independent force with good sensitivity applicable to the robot hand manipulation. First, we designed new-type of a tactile sensor. For maximizing the sensitivity of the sensor, a uniquely designed table-shaped top-head is attempted. To optimize conceptual design, various possibilities of the strain distribution are examined by using a finite element method simulation and design and analysis of experiments. Finally, the fabricated sensor was calibrated by applying normal and tangential forces between 0 and 1N. Although the sensor has a simple structure, it is possible to use multi-functioned sensing performance without interference.