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Frictional vibration and noise caused by water-lubricated rubber stern tube bearings, which are generated under extreme conditions, severely threaten underwater vehicles’ survivability and concealment performance. This study investigates the effect of flaky and spherical MoS2 nanoparticles on tribological properties and damping capacity of water-lubricated rubber materials, with the aim of decreasing frictional noise. A CBZ-1 tribo-tester was used to conduct the sliding tests between rubber ring-discs and ZCuSn10Zn2 ring-discs with water lubrication. These materials’ typical mechanical properties were analysed and compared. Coefficients of friction (COFs), wear rates, and surface morphologies were evaluated. Frictional noise and critical velocities of generating friction vibration were examined to corroborate above analysis. Results showed that spherical MoS2 nanoparticles enhanced rubber material’s mechanical and tribological properties and, in turn, reduced the friction noise and critical velocity. Flaky MoS2 nanoparticles reduced COF but did not enhance their mechanical properties, i.e., the damping capacity, wear resistance property; thus, these nanoparticles did not reduce the critical velocity obviously, even though increased the frictional noise at high load. The knowledge gained in the present work will be useful for optimizing friction pairs under extreme conditions to decrease frictional noise of water-lubricated rubber stern tube bearings.