The feeling of touch is an essential human sensation. Four types of mechanoreceptors (i.e., FA-I, SA-I, FA-II, and SA-II) in human skin signalize physical properties, such as shape, size, and texture, of an object that is touched and transmit the signal to the brain. Previous studies attempted to investigate the mechanical properties of skin microstructure and their effect on mechanoreceptors by using finite element modeling. However, very few studies have focused on the three-dimensional microstructure of dermal papillae, and this is related to that of FA-I receptors. A gap exists between conventional 2D models of dermal papillae and the natural configuration, which corresponds to a complex and uneven structure with depth. In this study, the three-dimensional microstructure of dermal papillae is modeled, and the differences between two-dimensional and three-dimensional aspects of dermal papillae on the strain energy density at receptor positions are examined. The three-dimensional microstructure has a focalizing effect and a localizing effect. Results also reveal the potential usefulness of these effects for tactile sensor design, and this may improve edge discrimination.