Police forces frequently face a variety of critical situations in their daily routines, where tactical errors can result in severe consequences. To improve the training of police officers it is important to train various scenarios as often as possible. However, traditional training methods, relying on operational trainers to observe and identify tactical errors, restrict the number of sessions due to trainer availability. Towards this end, we developed a virtual reality (VR)-based police training simulation that analyzes trainees’ tactical decisions and body postures in real time. Using full-body motion capture suits with haptic feedback, we provide tactile stimulation to alert trainees and warn them when they are about to make a severe tactical error. This paper presents results on the effectiveness of haptic feedback using crossover repeated-measures design (training without vs. with haptics in counterbalanced order) involving pairs of police recruits to assess psychological (i.e., stress, anxiety, mental effort) and physiological stress responses (i.e., heart rate and heart rate variability), as well as training performance. Results reveal a significant increase in perceived anxiety during training with haptic feedback (p = 0.01), albeit physiological responses are comparable in both conditions. Findings further show that haptic feedback significantly improves trainees’ performance in terms of secured areas (p = 0.03). These results could be particularly valuable for police operational trainer considering the adoption of VR-based training with haptic feedback to enhance training. Future research should explore long-term effects and strategies of using haptic feedback to improve stress resilience in VR training environments.