Tactile sensing is one of the key technologies for robotics that enables recognition of vibrations and brief moments of contact with an object, and facilitating object-manipulation and recognition. Here we describe a fabrication of highly efficient triboelectric nanogenerator that enables high yield and uniformity from stretchable electronic polymers with controlled density of tactile sensors, which thus constitute intrinsically self-powered stretchable (up to 580%) skin electronics. A dynamic pressure can be harnessed and detected with a sensitivity of 0.04 μA/kPa in the linear range from 16 KPa to 64 KPa and the texture and hardness of the object can be read out from the current waveforms with a location detection sensitivity of 2 mm, which help robots determine the moment and assess the grasp stability when they first come in contact with an object. Meanwhile, temperature can be detected in the linear range from 19.4 °C to 34.9 °C with a sensitivity of 0.59 μA/°C. At the same time, mechanical energy can be harnessed and converted to electricity with an open-circuit voltage of 160 V, a short-circuit current of 12.4 μA, and a maximum out power of 1387 μW (0.087 mW/cm2). Our process offers a general strategy for the fabrication of next generation stretchable TENG toward the development of self-powered skin electronic devices from robotics to the medical field, consumer devices and the auto industry.