Three-dimensional force perception plays an extremely important role in human-computer interaction. The main objective of the present study is to propose a three-dimensional force detection sensor using room temperature-vulcanized (RTV) silicone rubber, polyvinylidene fluoride (PVDF), and a silver coating layer. The sensor was designed in a cylindrical structure to detect the tangential force. The performed analyses reveal that the silver coating layer improves the surface charge output of the PVDF film. The output peak voltage of the sensing unit is 271.7 % higher than that of the single PVDF film. The sensor has a response time of 40 ms. It is found that the angle detection error of the sensor along horizontal and vertical directions is less than 2.79° and 0.88°,respectively. In order to evaluate the performance of the proposed sensor, it is fixed on the mechanical hand to perform grasping and sliding tests. The tested results show that the proposed sensor can effectively identify the weight and slip of the object, and can be used in the field of manipulator clamping control.