Blade-casing rubbing is a typical fault of aero-engine, but due to the complex structure of the equipment, it is still challenging to diagnose. This paper studies the characteristics of rubbing faults under rotor stator coupling. Firstly, a numerical model, which includes the rotor, bearings, and casing with blades, is constructed. Secondly, simulate the rubbing fault by setting the non-uniform initial gap between the blades and the casing, and the vibration response of the rotor and casing is obtained. Thirdly, combined with the test rig, the vibration characteristics under rubbing fault are verified. Finally, additional theoretical research is conducted on the vibration characteristics of the rotor, casing and blades under different degrees of rubbing fault. Theoretical and experimental results indicate that rubbing faults have different effects on the vibration of the rotor and stator: the rotational frequency amplitude of the rotor decreases while the frequency amplitude of the stator increases. As the fault degree increases, these phenomena become more significant. When rubbing faults occur, the harmonics near the system’s natural frequencies are more affected than the others. Moreover, rubbing faults can also cause the vibration of the rotor to be affected by the blade mode. The conclusions obtained in this paper can provide a reference for diagnosing rubbing faults in aero-engine.