This paper proposes a robust readout circuit with a leakage current cancellation technique (LCCT) for stretchable touch sensors. They have unique issues. When a finger comes close to a sensor, leakage current arises. The LCCT cancels the effect of this current. A capacitance variation of the sensor is compensated by intentionally adding offset voltage. The circuit’s ability to measure both self capacitance and mutual capacitance changes enables reliable touch detection. Experimental results showed the effectiveness of the proposed circuit and indicate the feasibility to relax the requirements that the stretchable sensors need to meet.