Price elasticity of demand is related (but not equal) to the inverse of the slope of the demand curve.
This Wikipedia article defines PED as:
Price elasticity of demand (PED or Ed) is a measure used in economics to show the responsiveness, or elasticity, of the quantity demanded of a good or service to a change in its price, ceteris paribus. More precisely, it gives the percentage change in quantity demanded in response to a one percent change in price. [emphasis added]
Look at the following (canonical) supply-demand graph.

Let's define $P^*$ the price of market equilibrium, $Q_D$ as the quantity demanded and $E_D$ as price elasticity of demand. Then:
$$ {slope} = \frac{rise}{run} = \frac{\Delta P}{\Delta Q_D} $$
And in mathematical terms, the verbal description of the PED reduces to:
$$ E_D = \frac{\frac{\Delta Q_D}{Q_D} \cdot 100}{\frac{\Delta P}{P^*} \cdot 100} $$
$$ E_D = \frac{P^*}{Q_D} \cdot \frac{\Delta Q_D} {\Delta P} $$
$$ E_D = \frac{P^*}{Q_D} \cdot \frac{1}{slope} $$
Edit
Constructive comments have been incorporated into this answer.
In particular, @Kontorus pointed out:
The PED is a percentage change, the slope of the demand curve is an absolute change.
And @denesp pointed out that:
... linear demand curves have constant slopes but changing elasticity. Cobb-Douglas derived demand (hyperbole) has changing slope but constant elasticity.