Composite materials provide mechanical and electrical stability across diverse environmental conditions, thereby enhancing sensor durability. This study aims to fabricate novel epoxy-embedded capacitive touch sensors, Type A (Touch sensor embedded) and Type B (embedded sensor with wire loop) configurations, and test them experimentally and compare their electrical and functional characteristics. Electrical characteristics are tested using neat epoxy as a reference, and the results indicate that the progressive decrease in resistivity from pure epoxy to Type B clearly demonstrates the role of sensor configuration in enhancing electrical performance. The functional characteristics were tested based on sensing behaviors and long-term durability. The results indicate that Type A exhibits enhanced touch sensitivity, with greater capacitance variation (ΔC) and a shorter response time. Type B provides better electrical stability and dielectric damping, resulting in increased SNR (signal-to-noise ratio), enhanced repeatability, more effective resistance to noise, and lower hysteresis. Frequency-dependent dielectrics showed consistent permittivity behavior, with capacitance variations decreasing at higher frequencies. Response time and ΔC varied significantly, according to the two-sample t-tests (p < 0.05). For long-term aging and error analysis, less variation in measurement (less than 6%) and a coefficient of variation of around 2% were observed.