In order to obtain the viscoelastic properties of friction linings and their effect on the tribological properties, three friction linings (K25, G30, and GM-3) are studied. Results show that higher creep and stress relaxation performances are favorable for promoting the friction coefficient. The friction coefficient of GM-3 is inversely proportional to the load. Meanwhile, the friction coefficients of K25 and G30 first increase to the peak under the load and later decrease. Under high load, GM-3 has the largest friction coefficient, whereas K25 has the smallest, with that of G30 being the median. The friction coefficient of GM-3 is inversely proportional to the loss factor, whereas those of K25 and G30 are directly proportional.