Tactile perception is essential for robot hand to execute dexterous operations towards intelligent human-robot interaction. Typically, the fingertips of dexterous hand are designed to be rigid and equipped with various sensors to facilitate tactile perception. However, the integration of sensors at the fingertips often relies on external attachments such as adhesives or finger cots, posing limitations on grasping small objects and vulnerability to damage. This work designs a novel highly integrated fingertip tactile sensor specifically tailored for dexterous operations. By using the piezoresistive effect, the developed fingertip tactile sensor combines flexible silicone encapsulation to enable seamless installation of the sensor on the fingertips of the robot’s dexterous hand. Furthermore, efficient communication is established to facilitate real-time data exchange between the sensor and the controller of the dexterous hand. Additionally, a series of calibration experiments are conducted to validate the performance of the fingertip tactile sensor. Experimental results indicate that the designed fingertip tactile sensor can accurately perceive pressure and temperature information from the external environment, providing decision-making data for the interaction between robot’s dexterous hand and the external environment.