This paper mainly studied the contact characteristics of steel-rubber rollers. First, according to the dynamic mechanical experimental data of rubber, the hyperelastic-viscoelastic composite constitutive model was constructed to accurately describe the properties of rubber. Then, for the contact problem of steel-rubber rollers, the elastic modulus of rubber presents an instantaneous change due to the influence of rubber's viscoelasticity, so the Hertz contact theory was modified through the instantaneous elastic modulus. Next, a dimensionless parameter [Formula: see text] was constructed to judge the viscoelastic influence degree of rubber. Finally, based on modified contact theory and the dimensionless parameter [Formula: see text], the influence of compressive force and rolling speed on the contact characteristics of steel-rubber rollers was analyzed. The research in this paper is helpful to the analysis of dynamic contact problem of rollers structure and the development of contact theory.