We present the fabrication, functionalization, and characterization of Poly(vinylidene fluoride-trifluoroethylene) [P(VDF-TrFE)] piezoelectric vertically aligned micro-fiber arrays for tactile sensing applications. The fabrication procedure is explained along with necessary post treatment functionalization steps. Fabricated micro-fiber arrays are tested for their ability of touch perception using a custom measurement setup. The sensitivity is measured to be 2.27 V/N in response to applied force with varying amplitude. Moreover, sensor shows a nearly constant frequency response in the range of 1 Hz to 75 Hz. Piezoelectric vertical fiber array is a promising sensing technique in robotics and minimally invasive surgery (MIS) operations where flexible skin type tactile sensing and high spatial resolution is required.