Unmanned aerial vehicles (UAVs) are increasingly used in applications such as inspection and search and rescue, yet safe and intuitive teleoperation remains challenging in cluttered and GPS-denied environments. This paper presents a modular haptic teleoperation framework that integrates Unity, ROS2, optical motion capture, a physical UAV platform, and a stylus-based haptic device for bidirectional human–robot interaction. Operator inputs are mapped to UAV velocity commands, while obstacle proximity is rendered as continuous haptic feedback to enhance spatial awareness. A Control Barrier Function (CBF)-based command filtering layer is incorporated to modify unsafe velocity commands in real time. The system is evaluated through both Unity-based simulation and real-world experiments using a DJI Tello UAV and OptiTrack motion capture. In the virtual experiments, four conditions were compared: baseline, CBF only, haptic only, and CBF + haptic. The combined CBF + haptic condition reduced the average task completion time from 62.9 s to 42.8 s and resulted in no observed collisions under the evaluated virtual scenarios. The real-world experiments further confirmed stable force–distance behavior, bounded latency, and feasible haptic-assisted UAV navigation in a constrained indoor environment. These results indicate that combining haptic feedback with CBF-based safety control can improve teleoperation efficiency, safety, and usability under the tested conditions while providing a practical step toward simulation-to-real haptic UAV teleoperation.