The invention discloses a piezoelectric integrated flexible tactile sensor and a preparation method thereof. The piezoelectric integrated flexible tactile sensor comprises a double-gate structure metal oxide TFT, a piezoelectric film layer which is located on a top gate electrode layer of the double-gate structure TFT and contains zinc oxide nanowires, and an upper electrode located on the nano piezoelectric film layer. The top gate electrode layer, the zinc oxide nanowire or nanobelt piezoelectric film layer and the upper electrode form a nano piezoelectric sensitive unit. According to the flexible tactile sensor, the double-gate structure metal oxide TFT and a nano piezoelectric film sensor are integrated, the metal oxide TFT serves as a charge amplifier and also serves as an array element switch, and the advantages of high sensitivity, high resolution, high signal-to-noise ratio, high flexibility, high anti-interference capacity and adjustable sensitivity and measuring range are achieved. The preparation process is simple, the cost is low, large-area array preparation can be achieved, and the sensor can be widely applied to the fields of bionic electronic systems, wearable devices, robots, medical health and the like.