In modern robotics and flexible electronic applications, there is an urgent need for flexible tactile sensors with high sensitivity, good flexibility and three-dimensional force measurement. A tactile sensor based on polyvinylidene fluoride (PVDF) piezoelectric film is proposed to achieve dynamic three-dimensional force measurement. The sensor consists of three PVDF piezoelectric sensitive units with an angle of 120 degrees to form three pressure sensitive areas, and the three piezoelectric sensitive units are arranged on the bottom surface of the polydimethylsiloxane (PDMS) hemispherical structure. The triaxial contact force transmitted from the top of the PDMS hemisphere causes the change of piezoelectric charge in the three piezoelectric sensitive units, thereby calculating the direction and magnitude of the contact force. This paper derives a three-dimensional force algorithm of the tactile sensor with three sensitive units, and gives a calibration for the prepared sensor to realize the three-dimensional dynamic force test. Results show that the average error of angle θ is 7. 75% , the average error of angle φ is 12. 17% and the average error of force F is 7. 48% . The three-dimensional force tactile sensor has good application potential in wearable electronics, health care, and human-computer interaction and other fields.