A tire’s three-dimensional stress for pavement is an important cause of asphalt pavement disease. In order to study the contact stress distribution between the tire and the pavement under real conditions, a sensor that can measure the tri-axial stress synchronously is designed, and a complete measurement system is established. The variation trend and stress value of tri-axial stress under steady rolling of the tire were obtained, and the stress distribution characteristics were analyzed. The results show that the stress in the three directions near the tire shoulder is greater than that in the crown area, and the stress peak moves gradually from front to back with the rolling of the tire. Compared with the simplified simulation model, these results provides valuable suggestions for exploring the real tire-pavement interaction.