This paper introduces a novel, fabric-based, flexible, and stretchable tactile sensor, capable of seamlessly covering natural shapes. Our design allows for several tactile cells to be embedded in a single sensor patch, and can have an arbitrary perimeter and can cover freeform surfaces. The sensor remains operational on top of soft padding, facilitating the possibility to build human-like artificial skin. It provides force measurements from subtle to high forces (0.1–30N), which easily covers the common range for everyday human manual interactions. Due to a layered construction, the sensor is very robust and can withstand huge normal forces without sustaining damage. We discuss the construction of the sensor and evaluate its performance. As an exciting application for the sensor, we describe the construction of a wearable tactile dataglove with 54 tactile cells.