Bioinspired artificial haptic neuron system has received much attention in the booming artificial intelligence industry for its broad range of high-impact applications such as personal healthcare monitoring, electronic skins, and human-machine interfaces. An artificial haptic neuron system is designed by integrating a piezoresistive sensor and a Nafion-based memristor for the first time in this paper. The piezoresistive sensor serves as a sensory receptor to transform mechanical stimuli into electric signals, and the Nafion-based memristor serves as the synapse to further process the information. The pyramid-structured sensor exhibits excellent sensitivity (6.7 × 10 7 kPa −1 in 1-5 kPa and 3.8 × 10 5 kPa −1 in 5-50 kPa) and durability (>7000 cycles), while the memristor realizes fundamental synaptic functions under low power consumption (10-200 pJ) and remains stable for over 10 4 consecutive tests. The integrated system can detect tactile stimuli encoded with temporal information, such as the count, frequency, duration and speed of the external force. As a proof-of-concept, English characters recognition with high accuracy can be achieved on the system under a supervised learning method. This work shows promising potential in bioinspired sensing systems owing to the high performance, excellent durability, and simple fabrication procedure.