By using the double glow plasma surface alloying technique, a Mo surface-modified layer is prepared on Ti6Al4V(TC4). The element concentration and microstructure are characterized with a glow-discharge optical emission spectroscope and a scanning electron microscope. The results indicate that the Mo modified layer is compact in structure and gradation in composition, which consists of a pure Mo deposition layer and a thick Mo diffusion layer. Nanoindentation test results indicate that the surface hardness of TC4 is significantly improved after surface modification. Therefore, the initial part of the Mo diffusion layer has higher hardness than the Mo deposition layer. The impact tests for 10,000 cycles at different loads demonstrate that impact load 100 N only causes small plastic deformation, while impact loads 300 N and 500 N could result in cracks. Combining nanoindentation test with finite element reverse analysis, plastic parameters of the Mo modified layer are quantitatively determined. By using the impact test and finite element forward analysis, the dynamic contact mechanical properties of Mo surface-modified TC4 are characterized. When the impact cycles are fixed, ring cracks firstly occur and then radial cracks occur with the impact load increase on the graded layer. The ring cracks are mainly caused by impact stretch fatigue and corresponding cyclic stress is between 3.53 and 2.62 GPa. The radial cracks are mainly related to the tension-compression fatigue and corresponding cyclic stress is between 3.92 and −0.97 GPa.