This paper aims to investigate a thermal frictional contact model with damage and long memory effects. We consider a deformable body made of viscoelastic material and assume the process to be dynamic. The material is expected to adhere to the Kelvin–Voigt constitutive law, with damage and thermal effects incorporated. The variational formulation of the model results in a coupled system comprising a history-dependent hemivariational inequality governing the displacement field, a parabolic variational inequality describing the damage field and an evolution equation for the temperature field. In the analysis of this system, we initially introduce a fully discrete scheme, and then concentrate on deriving error estimates of numerical solutions. An optimal order error estimate is attained under some appropriate solution regularity assumptions. At the tail of this manuscript, numerical simulations are provided for the contact problem to validate the theoretical results.