AZ91D Mg alloy was treated by ultrasonic surface rolling processing (USRP) and subsequent recovery treatment at different temperatures. The dry sliding friction test was performed to investigate the effects of USRP and subsequent recovery treatment on the wear resistance of AZ91D Mg alloy by a ball-on-plate tribometer. The microstructure, properties of plastic deformation layer and worn morphology were observed by optical microscope (OM), scanning electron microscope (SEM), transmission electron microscope (TEM), X-ray diffraction (XRD) analysis and microhardness tester. Results illustrate that the grains of AZ91D Mg alloy surface layer are refined to nanocrystallines. The maximum microhardness of the top surface of the USRP sample reaches 102.3 HV. When USRP samples are treated by recovery treatment at 150 °C, 200 °C and 250 °C, the microhardness of the top surface decreases to 90.68 HV, 79.29 HV and 75.06 HV, respectively. The friction coefficient (FC) and wear volume loss of the USRP-R-150 sample are the lowest among all the samples. The worn surface morphology of the USRP-R-150 sample is smoother than that of other samples, indicating that the wear resistance of AZ91D Mg alloy treated by USRP and recovery treatment at 150 °C is improved significantly.