The work aims to study advantage of ultrasonic vibration assisted milling titanium alloy in surface morphology as well as wear and friction properties. The ultrasonic vibration amplitude of 0, 6 and 12 μm were applied to feed direction of milling to process titanium alloy Ti-6Al-4V, and obtain surface morphology provided with different machining parameters. Micro surface morphology under different conditions was observed with SEM. Wear and friction properties of different surfaces were also tested, and effects of ultrasonic vibration on surface wear and friction properties were analyzed. The surface morphology differed a lot from that of conventional milling after ultrasonic vibration was applied. In addition to feed scratches generated as feed speed was present, the surface morphology included certain regular microtexture. Dry friction and lubricating grease friction were both analyzed during the wear and friction test. Under the condition of dry friction, the effect of ultrasonic vibration on coefficient of friction was more obvious. The coefficient of friction decreased at the amplitude of 6 μm and increased at 12 μm. Under the condition of lubrication friction, the coefficient of friction changed slightly. Surface texture with certain microstructure can be obtained by ultrasonic vibration assisted milling, presence of such microtexture affects wear and friction properties of machined surface, which plays a certain role in studying anti-wear and drag reduction properties of machined surface.