This study aims to address the problems of complex processes and unstable output performance in the traditional method of preparing flexible sensors. To this end, we prepared a flexible electrode layer based on silver nanoparticles via aerosol jet printing technology. A polyvinylidene fluoride (PVDF)-based aerosol ink was configured, and the sensor was successfully printed. The conductivity of the flexible electrode was optimized by exploring the relationship between the printing speed and line width of the conductive silver wire. The results show that a weak signal was generated before polarization, and the response sensitivities to pressure, strain, and temperature were 1.29 mV/N, 1.38 mV/%, and 0.12 mV/℃, respectively. The flexible tactile sensor printed using PVDF-based aerosol ink showed a good output response after polarization. The output amplitude was 145 mV at a pressure of 10 N, an increase of nearly six times, and the pressure and strain sensitivity were 13.11 mV/N and 4.13 mV/%, respectively. Its superior performance was still stable under 1 000 cycles. The sensor was fixed on the finger of a dexterous hand for flexion and extension and pressing for application verification, which confirmed the potential and broad application prospect of the flexible multi-modal tactile sensor in various fields, such as in electronic skin technology.