Abstract The mechanical properties of acid-etched enamel and dentin are important for understanding tooth erosion and developing innovative dental restorative materials. In this study, the microstructure and mechanical properties of both enamel and dentin were characterized using scanning electron microscopy (SEM) and atomic force microscopy (AFM) to quantify the impact of acid etching. SEM images demonstrated that enamel rods have a diameter of approximately 5 μm, while dentinal tubules have a diameter of around 2 μm. After acid etching, the intertubular and peritubular regions were exposed, with the peritubular regions showing a thickness of approximately 1 μm. AFM measurements showed that the stiffness of enamel at the bottom, middle, and top layers is 26.28±4.24 GPa, 32.03±8.68 GPa, and 23.94±3.53 GPa, respectively. For dentin, the stiffness is 16.28±2.76 GPa at the bottom layer and 17.59±5.33 GPa at the middle layer. AFM morphology and stiffness maps illustrated the microstructures of enamel rod and sheaths, as well as dentin tubules in both unetched and acid-etched tooth sections. The stiffness of the acid-etched enamel rod and peritubular dentin decreased by 7-fold and 3.6-fold, respectively, compared to the unetched enamel rod and peritubular dentin.