Conventional acoustic sensors used in human–machine interfaces often face challenges such as power supply requirements, limited sensitivity, and inability to tune their frequency response. A self‐powered, highly sensitive, and frequency‐tunable triboelectric acoustic sensor inspired by the human cochlea is introduced. By mimicking hair cells in the organ of Corti, a tapered microhair‐structured ferroelectric poly(vinylidene fluoride‐co‐hexafluoropropylene) (PVDF‐HFP) and barium titanate nanoparticle (BTNP) composite film is proposed, which demonstrates a 16‐fold increase in triboelectric output voltage (1.3 V) compared to a planar one at 2.8 Pa. Furthermore, inspired by the frequency selectivity of the basilar membrane with gradient structural variations, integrating a mass‐beam diaphragm is proposed with varying kirigami length and circular mass diameter that enables precise tuning of the resonance frequency of the sensor, resulting in a 32 times improvement in sensitivity (860 mV Pa−1) compared to a nonbiomimetic sensor (28 mV Pa−1) and an expanded dynamic range. The proposed sensor differentiates between human voices with different frequencies. A robotic hand integrated with the sensor responds to acoustic stimuli with programmed hand gestures, which highlights its potential in acoustic human–machine interfaces. The biomimetic approach to developing a self‐powered, highly sensitive, and frequency‐tunable acoustic sensor offers new possibilities for intuitive and immersive human–machine interfaces.