To improve the surface tribological properties of TC4 titanium alloy, three kinds of micro textures have been processed on the surface of TC4 titanium alloy by picosecond ultraviolet laser technology. The tribological properties of the textured TC4 titanium alloy under multi-contact conditions were investigated by multifunctional friction and wear testing machine. The surface hardness, surface roughness, three-dimensional profile and morphology of wear marks of textured TC4 titanium alloy were analyzed by microhardness tester, scanning electron microscope and laser confocal microscope. The results reveal that the surface hardness of textured TC4 surface increases by about 60%, and the triangular textured surface shows the highest hardness. Micro texture effectively reduces the friction coefficient of the TC4 surface. The circular and rectangular textured surfaces indicate the lowest friction coefficient, about 10% lower than that of non-textured surface. Capable of capturing the wear debris, the micro texture can reduce abrasive wear and improve wear resistance. Under the same contact conditions, the wear volume of textured samples is reduced by about 50% compared with no-textured surface. When the load is constant, the friction coefficient of textured TC4 surface decreases with the increase of velocity. Under the same wear speed, the lower load leads to a decrease of friction coefficient on the textured TC4 surface. This study presents an effective way to improve the tribological properties of titanium alloy, providing an alternative way to reduce the loss and failure caused by the friction and wear on titanium alloy.