The present invention addresses the problem of providing a tactile sensor covering structure and tactile sensor that are capable of sufficiently securing adhesiveness between a sensor main body and covering layer without providing an adhesive layer and for which there is no possibility of erroneous sensor detection associated with the formation of the covering layer. A tactile sensor covering structure according to the present invention has a covering layer (3) comprising an elastic body formed on a sensor main body (2), wherein the covering layer (3) comprises at least two layers, namely, an external layer (32) disposed furthest to the outside and an inner layer (31) that is disposed so as to touch the sensor main body (2) and has a higher adhesiveness and a lower hardness than the external layer (32), and is formed integrally with the sensor main body (2) through cast molding. It is preferable for the sensor main body (2) to be disposed on the upper surface of a substrate (4) and for the covering layer (3) to cover the sensor main body (2) and substrate (4) without the inner layer (31) covering the lower surface of the substrate (4).