A novel magnetostrictive tactile sensor has been designed, based on the inverse magnetostrictive effect and bionics, which can be used to test the gripping force of a manipulator and to detect the stiffness of the manipulated objects. Based on the electromagnetics theory, the inverse magnetostrictive effect, and the Hooke's law, the force measurement model and the stiffness detection model have been established. A magnetostrictive tactile sensor is designed to measure the applied force from 0 to 5 N with a sensitivity of 114 mV/N. The stiffness classification of the manipulated objects has been tested with four different types of sample materials. The results indicate that the output voltage and slope can be applied as a criteria for classifying the stiffness of the manipulated objects. The magnetostrictive tactile sensor has a simple structure with a rapid response and can realize the precise perception of the manipulated objects.