<p>Tactile sensors are novel electronic devices that enable a machine to interact with the surroundings. Flexible tactile sensing technologies with the advantages of flexibility, light weight, multiple functions, and low cost have attracted extensive attention due to the increasing demand in intelligent robotics, industrial automation, and wearable electronics. BaTiO₃ (BT) is considered the most promising lead-free ferroelectric material. Researchers have conducted numerous studies to prepare BT-based ceramics with high-performance properties. Piezoelectric polymers provide flexibility and durability, albeit with reduced piezoelectric performance. Combining BT-based ceramics with piezoelectric polymer matrices to make composites improves their flexibility and piezoelectric properties, going beyond the limitations of BT ceramics and piezoelectric polymers. This makes BT-based polymer composites important for use in tactile sensing applications. This review begins with a bibliometric analysis of piezoelectric BT-based polymer composites for tactile sensing. Following the preparation methodologies for fabricating piezoelectric polymer composites and piezoelectric materials, we present a comprehensive review of BT-based polymer composites that utilize various polymer matrices, particularly ferroelectric polymers, ferroelectrets, biodegradable polymers, and their polymer blends. The unique properties of two-dimensional (2D) materials resulted in the materials becoming promising candidates as 2D piezoelectric nanofillers for enhancing the piezoelectricity of BT-based polymer composites are also discussed. Recent research conducted towards the development of novel classes of tactile sensing devices in robotics, wearable electronics, and medical applications is presented. Finally, future perspectives and challenges encountered in the development of BT-based polymer composites for tactile sensing are addressed.</p> Graphical abstract <p></p>