This paper presents a high-performance readout circuit for tactile sensors based on the piezoresistance effect. Zero-potential and correlated double sampling methods are combined to suppress the undesired crosstalk issue, and the on-chip current digital-to-analog converter is proposed to compensate for the non-uniformity. Low-power successive-approximation-register analog -to-digital converter and customized serial peripheral interface are designed to perform digital quantization and communication. The prototype is fabricated in a 180-nm CMOS process, occupying an area of 4.8 mm² and consuming power of $285\ \mu \mathrm{W}$ at a 3.3-V/1.8-V supply. The chip is experimentally verified in a board system which achieves a non-uniformity compensation efficiency of 83%.