Soft pressure sensors play a significant role in developing "man-machine" tactile sensation in soft robotics and haptic interfaces. Specifically, capacitive sensors with micro-structured polymer matrices have been explored with considerable effort because of their high sensitivity, wide linearity range, and fast response time. However, the improvement of the sensing performance often relies on the structural design of the dielectric layer, which requires sophisticated microfabrication facilities. This article reports a simple and low-cost method to fabricate porous capacitive pressure sensors with improved sensitivity using the solvent evaporation-based method to tune the porosity. The sensor consists of a porous polydimethylsiloxane (PDMS) dielectric layer bonded with top and bottom electrodes made of elastic conductive polymer composites (ECPCs). The electrodes were prepared by scrape-coating carbon nanotubes (CNTs)-doped PDMS conductive slurry into mold-patterned PDMS films. To optimize the porosity of the dielectric layer for enhanced sensing performance, the PDMS solution was diluted with toluene of different mass fractions instead of filtering or grinding the sugar pore-forming agent (PFA) into different sizes. The evaporation of the toluene solvent allowed the fast fabrication of a porous dielectric layer with controllable porosities. It was confirmed that the sensitivity could be enhanced more two-fold when the toluene to PDMS ratio was increased from 1:8 to 1:1. The research proposed in this work enables a low-cost method of fabricating fully integrated bionic soft robotic grippers with soft sensory mechanoreceptors of tunable sensor parameters.