Nowadays, a wide variety of service robots have been developed to assistant humans in performing tasks that are dull and repetitive, such as household chores. Tactile perception can play a critical role in a service robot to improve its performance. Thus, the robot control method with tactile perception, Tactile servo, was proposed. However, the common tactile servo cannot deal with the targets so generally and flexibly. To enhance the performance of the tactile servo, this study is to present an agile and versatile tactile servo by the dynamic tactile Jacobian estimator which can generate an adjustable tactile Jacobian instead of a fixed tactile Jacobian used in the common tactile servo. In the experimental validation, this research utilized the objects with different shapes for experimenting, and this research confirmed the feasibility of the tactile servo using the dynamic tactile Jacobian estimator in final. This paper explains the method and demonstrates the results.