Robotic assembly of electrical connectors enables the automation of high-efficiency production of electronic products. A rigid gripper is adopted as the end-effector by the majority of existing works with a force–torque sensor installed at the wrist, which suffers from very limited perception capability of the manipulated objects. Moreover, the grasping and movement actions, as well as the inconsistency between the robot base and the end-effector frame, tend to result in angular misalignment, usually leading to assembly failure. Bio-inspired by the human finger, we designed a tactile finger in this paper with three characteristics: (1) Compliance: A soft ‘skin’ layer provides passive compliance for plenty of manipulation actions, thus increasing the tolerance for alignment errors. (2) Tactile Perception: Two types of sensing elements are embedded into the soft skin to tactilely sense the involved contact status. (3) Enhanced manipulation force: A rigid fingernail is designed to enhance the manipulation force and enable potential delicate operations. Moreover, a tactile-based alignment algorithm is proposed to search for the optimal orientation angle about the z axis. In the application of U-disk insertion, the three characteristics are validated and a success rate of 100% is achieved, whose generalization capability is also validated through the assembly of three types of electrical connectors.