The frictional properties of textured surfaces are closely related to the contact between rough peaks in the mixed lubrication. A model for rough peak contact between polyurethane and metal was already developed in a previous study. This study aims to further analyze the influence of various parameters on the friction properties of textured surfaces based on the previously developed theoretical model. As found, the friction coefficient increases with the increase of the root mean square roughness, and the increasing magnitude shows an upward trend. The friction coefficient varies with different texture shapes, and among the four shapes, the spherical texture has the smallest friction coefficient. In addition, either small or large texture depths can adversely affect the friction coefficient. The friction coefficient decreases and stabilizes with the increase of area ratio. The effect of working parameters on the friction coefficient coincides with the Stribeck curve.