Hydrochar is considered to be a good adsorbent for the separation of metal ions from aqueous solutions. However, the yield of hydrochar from raw straw is generally low, because the hydrothermal carbonization occurs via dehydration, polymerization, and carbonization. In this work, various hydrochar samples were prepared from rice straw with nitrogen and phosphorus salt; moreover, toilet sewage was used instead of nitrogen, and phosphorus salt and water were used to promote the polymerization and carbonization process. The modified carbon was characterized using XRD, XPS, SEM, and FTIR, and the adsorption capacity was investigated. A significant increase in hydrochar yield was observed when toilet sewage was used as the solvent in the hydrothermal carbonization process. The adsorption capacity of N/P-doped rice straw hydrochar for Cd2+ and Zn2+ metal ions was 1.1–1.4 times higher than that those using the rice straw hydrochar. The Langmuir models and pseudo-second-order models described the metal adsorption processes in both the single and binary-metal systems well. The characterization results showed the contribution of the surface complexation, the electrostatic interaction, the hydrogen bond, and the ion exchange to the extraction of Cd2+ and Zn2+ using N/P-doped rice straw hydrochar.