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Provided is a method for inducing peripheral sensory neuronal (PSN) cells from stem cells (e.g. iPS cells) comprising steps of (i) culturing the stem cells in a 3N medium with at least one SMAD inhibitor in a first culture vessel, (ii) culturing the primary differentiated cells obtained in (i) in a second culture vessel coated with polyornithine/laminin in a 3N medium supplemented with at least one mitogen, then in a 3N medium supplemented with at least one neurotrophic factor, at least one differentiation inductor and at least one cell transduction inductor, and (iii) culturing the secondary differentiated cells obtained in (ii) in a conditioned medium from human neonatal epidermal keratinocytes.