This paper develops a novel flexible capacitive tactile sensor array for prosthetic hand gripping force measurement. The sensor array has 8 × 8 (= 64) sensing units, each sensing unit has a four-layered structure: two thick PET layers with embedded copper electrodes generates a capacitor, a PDMS film with line-structure used as an insulation layer, and a top PDMS bump layer to concentrate external force. The structural design, working principle, and fabrication process of this sensor array are presented. The fabricated tactile sensor array features high flexibility has a spatial resolution of 2 mm. This is followed by the characterization of the sensing unit for normal force measurement and found that the sensing unit has two sensitivities: 4.82 ⁰/₀₀/mN for small contact force and 0.23 ⁰/₀₀/mN for large gripping force measurements. Finally, the tactile sensor array is integrated into a prosthetic hand for gripping force measurement. Results showed that the developed flexible capacitive tactile sensor array could be utilized for tactile sensing and real-time contact force visualization for prosthetic hand gripping applications.