Central to T cell biology, the TCR integrates forces in its triggering process upon interaction with pMHC. Phenotypically, forces elicit TCR catch–slip bonds with strong pMHCs but slip–only bonds with weak pMHCs. While such correlation is generally observed, the quantitative bond pattern and degree of catchiness vary. We developed two models based on the structure, elastic properties, and force–induced conformational changes of the TCR–pMHC–I/II complexes to derive from their bond characteristics more intrinsic parameters that underlie structural mechanisms, predict T cell signaling, and discriminate antigens. Applying the models to all published 48 datasets of 11 TCRs and their mutants interacting with corresponding pMHCs revealed the ability for structural and physical parameters to quantitatively integrate and classify a broad range of bond behaviors and biological activities. The extensive comparisons between theory and experiment allowed us to validate the models and identify specific conformational changes that control bond profiles, thereby providing structural insights into the inner workings of the TCR mechanosensing machinery and explaining why and how force amplifies TCR signaling and antigen discrimination.