Our sharp tactile sense is largely attributable to an undulating layer of microstructures between the epidermis and dermis, amplifying tactile signals. Taking inspiration from the biological template, we propose a design of flexible capacitive pressure sensors with various microstructural dielectric middle layers, fabricated using a casting-based approach. This is the first confirmed use of microstructural polyvinyl chloride (PVC) gel in dielectric layers and the first example of casting in the fabrication of capacitive sensors. Notably, on account of its flexibility, the sensor also addresses the problem of microstructure fracture and misalignment during sensor bending. These sensors can achieve a maximum sensitivity of 1.34 kPa−1 (under 10 kPa) with a fast response time (50 ms), good cyclic stability (> 1000 cycles), and a wide pressure sensing range (0 ∼ 290 kPa). When attached to a cup or balloon, this study reveals that these sensors can detect the weight and rigidity of the objects, demonstrating their potential in human-machine interaction, as well as in wearable applications. Display omitted •Capacitive sensors with morphology-controllable polyvinyl chloride (PVC) gel dielectric middle layers are first proposed.•The maximum sensitivity is up to 1.34 kPa−1, the widest pressure sensing range (0∼290 kPa), and the response is 50 ms.•The 3D-printed mask coating polyvinyl alcohol (PVA) enables stable microstructural dielectric layer manufacturing.•The fully interlinked design improves sensors’ stability in performance with bending angles up to 120◦.