A tire with printed shear sensors includes a pair of bead areas and a ground-contacting tread disposed radially outwardly of the pair of bead areas. A pair of sidewalls includes an inboard sidewall extending from a first one of the bead areas to the tread and an outboard sidewall extending from a second one of the bead areas to the tread. A carcass extends toroidally between each of the bead areas radially inwardly of the tread, and an innerliner is formed on an inside surface of the carcass. A pair of resistive shear sensors is printed on the innerliner, including a first shear sensor printed in a sidewall zone of the inboard sidewall and a second shear sensor printed in a sidewall zone of the outboard sidewall.