In this study, the tribological properties of three AISI 1045 steel samples were investigated. Two samples were treated with ultrasonic shot peening (USP) and ultrasonic strengthening grinding process (USGP), respectively, while the other one was only treated with a polishing process. Sample properties, such as surface morphology, roughness, microhardness, elastic modulus, frictional coefficient, and phase structures were analyzed. Results show that the sample treated with USGP had the best tribological properties. It realized the highest surface roughness, microhardness, and elastic modulus. Compared with a polished sample, the roughness of the sample treated with USGP increased by 157%, and the microhardness and elastic modulus improved by 32.8% and 21.3%, respectively. Additionally, USGP provided an average frictional coefficient of 0.4, decreasing approximately 45% compared to polishing. The possible mechanisms of USGP surface texturing were discussed. The findings denote that USGP could be an efficient approach to improve the fatigue life of some mechanical components.