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A measurement device was developed for measurements of the compressive load applied to a teat by the closed teatcup liner. The device consisted of a load cell covered with a material to simulate the biomechanical properties of teat tissue. Two materials were compared against excised teat tissue: gum rubber and a soft gel-like material. Compressive load measurements were conducted on five different liners to assess the response of the device with the individual materials. Device response to changes in liner tension, wall thickness and penetration depth was favorable. The gel-like material performed statistically similar to teat tissue in the liner tests. Material compression tests indicated that for input strains under 37%, the gel deformed statistically similar to that of a teat. The gel material seemed to simulate teat tissue better than gum rubber and is a recommended alternative to teat tissue as a sensor covering material on the teat sensor device developed in this study.