The lead zirconate titanate(PZT) is widely used in tactile sensors,ultrasonic transducers and other fields because of its high sensitivity,fast response and large piezoelectric constant.First,the principle and fabrication process of PZT-based tactile sensor is described in this paper.Then, the research progress of PZT tactile sensor is summarized from four aspects of material optimization,structure optimization,flexibility optimization and scalability optimization,and its practical applications in the fields of motion detection, medical health and human-computer interaction are discussed.Finally,the shortcomings and future development trend of PZT tactile sensor are analyzed.