A bionic phase-locked structure-inspired iontronic triboelectric gel is developed with good mechanical compliance for wearable haptic sensing applications. Competitive hydrogen bonding systems are constructed through polymer-solvent-nonsolvent interactions, enabling controlled phase separation and regeneration of polymers with weak hydrogen bond donors. The resulting soft-hard alternating phase-locked structure gives the gel a Young's modulus (6.8–281.9 kPa) and high tensile properties (880%) compatible with human skin. The gel exhibits excellent tribopositive and self-adhesive properties (peel strength >70 N m⁻¹). A self-powered haptic skin based on this gel has a modulus (150.6 kPa) and stretchability (>400%) similar to that of the human body, enabling fidelity transmission of haptic signals and precise recognition of sensing objects. The gel's phase-locked structure is induced by competitive hydrogen bonding, with solvent-nonsolvent interactions used to construct competitive hydrogen bonding systems. The gel's mechanical properties are highly competitive among reported skin-like elastic materials, with a Young's modulus comparable to that of human skin and a significant improvement in strength and toughness. The gel demonstrates excellent compliance, conformal contact with human skin, and stable interfacial connections. It also exhibits high mechanical robustness and sensing stability, with triboelectric output performance not decaying significantly after 2000 cycles of operation. The gel is used to fabricate a self-powered tactile sensing system that can recognize grasping motions and strengths based on triboelectric signals. The study provides a convenient solution for the development of elastic triboelectric materials with compliant mechanical properties, which is expected to promote the further application of soft electronics in tactile sensing.A bionic phase-locked structure-inspired iontronic triboelectric gel is developed with good mechanical compliance for wearable haptic sensing applications. Competitive hydrogen bonding systems are constructed through polymer-solvent-nonsolvent interactions, enabling controlled phase separation and regeneration of polymers with weak hydrogen bond donors. The resulting soft-hard alternating phase-locked structure gives the gel a Young's modulus (6.8–281.9 kPa) and high tensile properties (880%) compatible with human skin. The gel exhibits excellent tribopositive and self-adhesive properties (peel strength >70 N m⁻¹). A self-powered haptic skin based on this gel has a modulus (150.6 kPa) and stretchability (>400%) similar to that of the human body, enabling fidelity transmission of haptic signals and precise recognition of sensing objects. The gel's phase-locked structure is induced by competitive hydrogen bonding, with solvent-nonsolvent interactions used to construct competitive hydrogen bonding systems. The gel's mechanical properties are highly competitive among reported skin-like elastic materials, with a Young's modulus comparable to that of human skin and a significant improvement in strength and toughness. The gel demonstrates excellent compliance, conformal contact with human skin, and stable interfacial connections. It also exhibits high mechanical robustness and sensing stability, with triboelectric output performance not decaying significantly after 2000 cycles of operation. The gel is used to fabricate a self-powered tactile sensing system that can recognize grasping motions and strengths based on triboelectric signals. The study provides a convenient solution for the development of elastic triboelectric materials with compliant mechanical properties, which is expected to promote the further application of soft electronics in tactile sensing.