Provided is an omnidirectional slip sensor. The omnidirectional slip sensor comprises an upper structure and a lower structure, the upper structure is a cylindrical structure with a circular skirt edge, the material of the upper structure is a flexible material, the lower surface of the skirt edge is provided with an upper electrode, the lower structure comprises a piezoresistive film, a pluralityof lower electrodes, and an insulation film covering the piezoresistive film and the plurality of lower electrodes, the plurality of lower electrodes are distributed at intervals around the outside of the piezoresistive film, the piezoresistive film is located at the center surrounded by the plurality of lower electrodes, the lower surface of the cylindrical structure is aligned with the piezoresistive film, when a shearing force is applied to the sensor, the upper structure inclines towards the direction of the force to enable the upper electrode to make contact with the insulation film below, electric signals are inducted between the upper electrode and the lower electrodes under the insulation film, and when a normal pressure is applied to the sensor, the piezoresistive film is normally deformed, and a resistance thereof is changed. According to the omnidirectional slip sensor, sliding in any direction can be identified, and the sliding speed and the shearing force can also be measured.