Herein, the analytic hierarchy process (AHP) and central composite experimental design in response surface methodology (CCD-RSM) are used to evaluate and optimize the tribological parameters of bionic textured AISI 4140-SnAgCu self-lubricating composite under the conditions of load (L: 20–40 N), velocity (V: 16–32 mm/s), and distance (D: 40–80 m). AISI 4140 biomimetic composites exhibit excellent tribological properties under the conditions of L 27.15/V 16.43/D 40, L 27.05/V 17.08/D 60, and L 27.42/V 17.85/D 80, respectively. The sensitivities of influence factors on the tribological overall score are load, velocity, and distance, in order from high to low. The good antifriction properties of self-lubricating composites under conditions with the optimized tribological parameters benefit from the fact that the solid lubricants are uniformly spread at the contact interface.