To solve the problem that the electronic skin tactile sensor which can be used on the surface of complex three-dimensional carrier such as robots is difficult to have high flexibility and stretchability and pressure detection function, a new method of flexible and stretchable electronic skin pressure tactile sensor is proposed from the selection of materials, structural optimization and new manufacturing process. The novel AgNWs/PDMS composite material is used. The new "sandwich" sensor array structure based on a semi-circular and circular shaped conductive film electrode layer and an array of "porous PDMS" is proposed, which greatly improves the flexibility and stretchability of the tactile sensor. And a highly flexible and stretchable electronic skin pressure tactile sensor is produced. The results show that the electronic skin pressure tactile sensor has good flexibility and stretchability, and the elastic stretch rate of the sensor exceeds the elasticity of human skin by 30%, then it can cover the surface of complex three-dimensional carriers such as robots to measure the pressure and distribution under different load conditions. Also the novel tactile sensor has high linearity, sensitivity and small hysteresis error in both natural and stretching states. Therefore, the tactile sensor laid the foundation for the development of flexible and intelligent robots.