Mechanical properties of biological tissue are deeply related to the health condition of the human body. Various measurement methods for mechanical properties of biological tissue have been utilized including tensile tests, indentation, pressure-volume relations, and many more. However, detecting disease-originated subtle and local change of mechanical properties in biological tissue can be very challenging. Thus, in this study, we aim to develop piezoelectric microneedle (p-MN) sensors that can measure local and subtle change of biological tissue. MN shape was designed to enable highly-localized contact to the surface of biological tissue. Piezoelectric nanocomposite was prepared by mixing BaTiO3 and multi-walled CNT with PDMS. p-MN electrodes were fabricated by a micro molding method and characterized to maximize the piezoelectric signals. Consequently, the voltage signals from the different kinds of p-MN array were measured and analyzed. Finally, the mechanical properties of porcine tissues were measured and analyzed using p-MNs.