The invention discloses an embeddable-type bar-shaped fully-flexible multi-dimensional force sensor, comprising a sensor's flexible substrate, an upper layer micro channel and a lower layer micro channel arranged inside the sensor flexible substrate in bar-shaped distribution. The upper layer micro channel and the lower layer micro channel are of the same structure and are in letter-Z shape with their heads and the tails connected to be one channel. The micro channels are injected by liquid metal gallium indium tin alloy conductors to serve as the sensitive components of the sensor wherein the head part and the tail part of the lower layer micro channel are guided out with one guiding wire respectively; and the head part, the tail part and the middle position of the upper layer micro channel are guided out with one guiding wire respectively. The guided guiding wires are used to connect with an external acquisition system. Through the detection of the change of the resistance in the micro channels, the force standing condition of the sensor can be calculated and obtained. The invention can be embedded into the inner part of a soft robot to measure according to its movement, and is able to detect the forces in three directions. The invention is simple in structure and can be manufactured easily. The sensor also allows for easy processing for subsequent data. The fully-flexible structure is very adaptive to the environment and therefore, the sensor can be used for measurement under a hostile environment.