In this study, we examined how surface topography and particle medium interact to affect the tribological performance of rubber sliding interfaces, uncovering the mechanisms of particle lubrication under various conditions. We found that microtextured surfaces, created using a mold transfer method, modestly reduced the friction coefficient of rubber under both dry and lubricated states, primarily by altering the real contact area. Additionally, the presence of different microconvex textures on the surface topography significantly influenced rubber’s tribological properties. Our three-dimensional morphological analysis revealed that microtextured rubber surfaces with higher Sa, Sku, and Sal and lower Str values consistently showed lower friction coefficients during sliding. The friction mechanism was attributed to the combined effects of the material properties, surface topography, and contact area. With the addition of a particle medium, the dry friction coefficient of the rubber interface decreased but exhibited an initial increase, followed by a decrease with increasing particle diameter. When particles were mixed with a water-based cutting fluid, the concentration, diameter, and wettability of the particles significantly impacted the tribological properties due to the synergistic effects of surface topography and particle lubrication. This work enhances our understanding of tribological control for viscoelastic materials through surface design, providing a theoretical basis for the tribological optimization of rubber surfaces.