This paper presents a neuromorphic antennal sensory system that emulates the structural, functional, and neuronal characteristics of insect antennae. The system consists of an electronic antennae sensor with three-dimensional flexible structures that detect tactile and magnetic stimuli. Artificial synaptic devices, adsorbed with solution-processable MoS₂ nanoflakes, enable synaptic processing of sensory information. By mimicking the architecture of receptor-neuron pathways, the system realizes hardware-level, spatiotemporal perception of tactile contact, surface pattern, and magnetic field. The system demonstrates high accuracy in vibrotactile-perception tasks, surpassing human performance in "blind" tactile explorations, and successfully completes magneto-perception tasks including magnetic navigation and touchless interaction. This work represents a significant advancement in neuromorphic sensory systems and biomimetic perceptual intelligence.This paper presents a neuromorphic antennal sensory system that emulates the structural, functional, and neuronal characteristics of insect antennae. The system consists of an electronic antennae sensor with three-dimensional flexible structures that detect tactile and magnetic stimuli. Artificial synaptic devices, adsorbed with solution-processable MoS₂ nanoflakes, enable synaptic processing of sensory information. By mimicking the architecture of receptor-neuron pathways, the system realizes hardware-level, spatiotemporal perception of tactile contact, surface pattern, and magnetic field. The system demonstrates high accuracy in vibrotactile-perception tasks, surpassing human performance in "blind" tactile explorations, and successfully completes magneto-perception tasks including magnetic navigation and touchless interaction. This work represents a significant advancement in neuromorphic sensory systems and biomimetic perceptual intelligence.