In this work, we propose a qualitative immersion evaluation technique based on a pseudo-haptic-based user-specific virtual object weight recognition algorithm and an immersive experience questionnaire (IEQ). The proposed weight recognition algorithm is developed by considering the moving speed of a natural hand tracking-based, user-customized virtual object using a camera in a VR headset and the realistic offset of the object’s weight when lifting it in real space. Customized speeds are defined to recognize customized weights. In addition, an experiment is conducted to measure the speed of lifting objects by weight in real space to obtain the natural object lifting speed weight according to the weight. In order to evaluate the weight and immersion of the developed simulation content, the participants’ qualitative immersion evaluation is conducted through three IEQ-based immersion evaluation surveys. Based on the analysis results of the experimental participants and the interview, this immersion evaluation technique shows whether it is possible to evaluate a realistic tactile experience in VR content. It is predicted that the proposed weight recognition algorithm and evaluation technology can be applied to various fields, such as content production and service support, in line with market demand in the rapidly growing VR, AR, and MR fields.