The dataset of the article "Multiscale-structured miniaturized 3D force sensors" which is accepted for publication in Nature Materials. Specifically, the dataset contains the data used to plot all the data graphs in the main Figures of the article. They are respectively: The mechanical and electrical property testing result curves of composite materials and the data corresponding to the simulation results (Fig. 2). The data of output signal curves of the sensor under pressure (Fig. 3), as well as the results under different test conditions and the raw data of the statistical charts (Fig. 4). Data measured by the sensor array in the demonstration (Fig. 5). See published article for details.