Based on the tactile mechanism of human fingertips, a bionic tactile sensor fabricated from polyvinylidene fluoride piezoelectric film is proposed, which can identify the surface softness, viscoelasticity, thermal conductivity, and texture roughness of the object. The tactile sensor is mounted on the fingertip of the bionic manipulator, which obtains the surface features by touching and sliding the object. The time-domain features of the output signal are used for preliminarily discriminating the softness, viscoelasticity, and heat conduction of the object. Finally, based on the Back Propagation and the Particle Swarm Optimization-Back Propagation neural network algorithm, the recognition experiment of texture roughness is carried out using the PSO algorithm to improve the BP neural network so that the optimized BP algorithm has a higher convergence accuracy. The results show that the PSO-BP algorithm achieved the highest accuracy of 98% for identifying samples with different roughnesses and the average recognition achieved an accuracy of 94%. The bionic piezoelectric tactile sensor proposed in this paper has a good application development prospect in recognizing the surface features of objects and intelligent robots.