This study aimed to elucidate the adhesion mechanism of siderophore-producing bacteria to goethite and boron-doped goethite. To meet the aims of the study, goethite and siderophore-producing bacteria were employed. The interaction between goethite and siderophore-producing bacteria was explored using batch adhesion experiment and DLVO theory. Results showed that the maximum adhesion amounts of P. sp. and P. chlororaphis on goethite and boron-doped goethite were 2039.39 and 1848.65, and 1566.64 and 1333.39 mg g−1, respectively, at 25 °C and pH 6. As solution pH increased, adhering amount of P. sp. and P. chlororaphis to goethite and boron-doped goethite was decreased. Electrostatic attraction force and chemical bond formation were the main mechanism of iron oxide interaction with bacteria. Boron incorporation reduced adhesion of P. sp. and P. chlororaphis to goethite surface. Results of this study may provide a theoretical basis for the utilization of siderophore-producing bacteria to transform iron elements in soil.