Primary mechanosensory neurons play an important role in converting mechanical forces into the sense of touch. In zebrafish, Rohon‐Beard (RB) neurons serve this role at embryonic and larval stages of development. Here we examine the morphology and physiology of RBs in larval zebrafish to better understand how mechanosensory stimuli are represented along the spinal cord. We report that the morphology of RB neurons differs along the rostrocaudal body axis. Rostral RB neurons arborize in the skin near the cell body whereas caudal cells arborize at a distance posterior to their cell body. Using a novel electrophysiological approach, we also found longitudinal differences in the mechanosensitivity and physiological properties of RB neurons. Rostral RB neurons respond to mechanical stimulations close to the soma and produce up to three spikes with increasing stimulus intensity, whereas caudal cells respond at more distal locations and can produce four or more spikes when the intensity of the mechanical stimulus increases. The mechanosensory properties of RB neurons are consistent with those of rapidly adapting mechanoreceptors and can signal the onset, offset and intensity of mechanical stimulation. This is the first report of the intensity encoding properties of RB neurons, where an increase in spike number and a decrease in spike latency are observed with increasing stimulation intensity. This study reveals an unappreciated complexity of the larval zebrafish mechanosensory system and demonstrates how differences in the morphological and physiological properties of RBs related to their rostrocaudal location can influence the signals that enter the spinal cord. Primary mechanosensory afferents serve as the first level of signal processing at the somatosensory periphery and provide information about behaviorally relevant stimulus features. Here, we show that the mechanosensory Rohon‐Beard (RB) neurons in larval zebrafish are rapidly adapting cells that can signal stimulus onset and offset and encode stimulus intensity implementing rate and temporal coding mechanisms. We also revealed a rostrocaudal variation in both morphology and physiology within the RB neuron population, which offers insights on what signals RBs carry into central circuits and on their role in locomotor behaviors.