We have several Touch and Feel Animal books from DK Publishing. My toddler really enjoys them, and has for an entire year.
Each book has a different theme. We have the books that include baby animals, wild animals, and kittens. We also have one with a bath time theme. Each page has a bright picture on it, with a cutout in the page that is filled with something textured. The horse has short velvety hair, the lion has a long mane, the treefrog has sticky toes, and the kitty has a scratchy tongue. We have gone from watching our daughter start to feel the textures, to being able to make the sounds some of the corresponding animals make, to being able to say the names of the animals. So, these books can be used for a long time for different stages in your child's development.
There are not a lot of words on each page, and there are only six or so textures with each book, so it doesn't take long to get through the book, which is why having several is beneficial.