I have the S3 Mini and don't like haptic feedback. However, I just checked and it seems there is no such setting on the standard keyboard.
There is on Swiftkey though. You do have to pay for it, but it's actually worth it seeing as it's a much better keyboard than the standard one. Much easier to use IMO.
(Interestingly, I've had to reinstall Swiftkey 3 times, twice on my tablet and once on the Mini due to having to do a factory reset. Every time I reinstall it seems my free 30 day trial period starts over. So it seems they cannot track whether it's the first time you install it or not. So, theoretically you could delete it ever 30 days and reinstall and never have to pay. I'm just saying)