Is it normal for the tip of the penis to hurt a lot when it’s touched (uncircumcised)?

The head of the penis tends to be more sensitive when you aren’t circumcised, but it shouldn’t be painful. Or, rather, you don’t have to put up with it being painful. There are some topical numbing medicines (look for a cream with lidocaine) that you can get in the drugstore. If you apply these before touching your penis for pleasure or having sexual contact with someone, the lidocaine can dull some of the sensation on the tip. When using before contact with someone else, just remember to apply about 10 minutes before activity, then wipe off completely before insertion.