Accurate evaluation of air-void content in hardened concrete is important for assessing durability and long-term performance. Traditional methods often require time-consuming surface preparation and depend on imaging techniques that are sensitive to surface texture. This study investigates the potential of a high-resolution tactile sensing approach for non-destructive void detection with minimal surface preparation. To understand the effect of surface roughness, void detection was first performed on paired concrete specimens with identical internal surfaces, while one was left unpolished and the other polished. Despite the presence of surface irregularities, the tactile sensor was still able to identify most of the voids larger than a defined threshold, demonstrating its effectiveness even under challenging surface conditions. In the second phase, the sensor’s void quantification performance was benchmarked on a polished specimen using a standardized digital microscopy-based method. The tactile system estimated porosity at 4.58% with an average void area of 0.013 mm², closely matching the reference digital microscopy-based results of 5.05% and 0.011 mm². These results highlight the sensor’s capability to produce consistent and quantitative measurements on both rough and smooth surfaces. The approach offers a practical alternative to traditional void analysis methods, with the potential to simplify inspection workflows and support future automation in concrete surface evaluation.