We propose a magnetic type tactile sensor that can measure a three-axis displacement and a three-axis force. Its simple structure comprises two layers, an elastic layer and a substrate layer. The elastic layer is made of an elastic material and houses a cylindrical permanent magnet inside. The substrate layer is a glass epoxy board and has four giant magneto resistance (GMR) elements. Features of this sensor are a wiring reduction, simple structure, and low cost. In this paper, we describe a structure of the sensor. We design three sensors with different sizes by a finite elemental method, and confirm the performances of three prototypes through the laboratory experiments.