Stick–slip vibration is simultaneously influenced by several factors which share complicated coupling relationships. In this research, an experimental investigation was performed to analyze the evolution law of stick–slip characteristics at different working conditions using a tribometer. The results showed that the disc rotational speed and normal force had noticeable impact on both stick–slip vibration and coefficient of friction (COF). Then, the Stribeck model, which can characterize COF characteristics in the stick–slip process, was employed and the parameters were identified to construct a dynamic relationship between working conditions and COF. Further, the numerical simulations respectively considering and neglecting the dynamic relationship between working conditions and Stribeck model parameters were conducted via an established tribometer analytical model. It was found that the simulation results considering the influence of working conditions on Stribeck model parameters were in better agreement with the experimental results as the stick–slip vibration depends on the combined effect of working conditions and Stribeck model parameters. Therefore, the dynamic relationship between working conditions and Stribeck model parameters is crucial to accurately reveal stick–slip characteristics.