In this study, using a novel method for haptic presentation based on pseudo-haptics, the perceived stiffness was visually altered by changing the fingertips shape of a virtual hand, as users engaged with objects in a VR environment. While past approaches have primarily focused on instigating such sensations through object deformation, we focused on how an individual’s fingertips deform upon making contact with an object. In this study, we investigated pseudo-haptics based on the deformation of the fingertips of a virtual hand. In Experiment 1, we determined how the shape deformation of a virtual hand’s fingertip affected the sense of body ownership. The experiment determined that the maximum change in the fingertip width should be 2.25 times. In Experiment 2, subjects touched a virtual object in the VR space and evaluated the perception of the stiffness of the virtual object. The results confirmed that when the deformation of the fingertip shape of the virtual hand was small, the object was perceived as hard, whereas when it was large, the object was perceived as soft. These results indicated that a haptic presentation is possible without using a haptic device that restricts user movement, which will users could broaden the range of natural interactions in VR spaces.