We propose a tactile sensor that uses variation of magnetic field. The sensor has a simple structure of 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. When an object touches the surface of the elastic layer, the layer deforms. The deformation displaces the magnet and the magnetic field for the substrate layer changes. The substrate layer is a glass epoxy board, and has four giant magneto resistance (GMR) elements and four inductors. These elements detect changes of magnetic field strength from the magnet. It is possible to calculate three-axis displacement and force and detect slips from outputs of the elements. In this paper, we describe a structure of the sensor. Then, we confirm a fundamental performance of the sensor and show response character of the elements.