Three-dimensional force-tactile sensors have attracted much attention for their great potential in the applications of human-computer interaction and bionic intelligent robotics. Herein, a flexible haptic sensor based on dual fiber Bragg gratings (FBGs) embedded in a bionic anisotropic material is proposed for the detection of 3D forces. To achieve the discrimination of normal and tangential force angles and magnitudes, FBGs were orthogonally embedded in a flexible silicone cylinder for force determination. Fe3O4 nanoparticles were used as a modifying agent to induce anisotropic elasticity of the silicone structure to improve the angle detection resolution. The results show that the flexible tactile sensor can detect the angle and magnitude of the 3D force.