A touch sensing method for a touch panel is provided. The touch sensing method includes following steps. First, a plurality of sensing values of a plurality of sensing points are received so as to calculate a plurality of sensing difference values according to the sensing values. Next, a touch threshold value is determined according to at least one (e.g., a maximum one) of the sensing difference values. Then, the sensing difference values are compared with the touch threshold value to determine the coordinates of the touched ones of the sensing points according to the comparison result.