In order to judge and control applied force of Chinese massage robot’s end-effector on human body accurately, multi-dimensional interactive forces between massage robot’s end-effector and human should be measured. In this paper, a novel two-axis force sensor suitable for massage robot’s end-effector is presented, which is much smaller than existing sensors but in the same range measurement. Mechanical structure is introduced, theoretical analysis of elastic body is made, and finite element analysis is used to analyze its static characteristic. Then, the distribution of strain gauges and design of Hilton Bridge Circuit are described in detail. Finally, a prototype is fabricated. Decoupling algorithm is designed to reduce the interference error. The result of static calibration experimental data shows that the sensor has features of high precision and sensitivity.