Ti15Mo alloy has been regarded as one of the most potential biomedical materials due to its excellent performance. However, the low hardness and poor wear resistance of titanium alloy limit the further application. Therefore, high temperature solid carburising technology was performed on the surface of Ti15Mo alloys to prepare titanium carbide (TiC) coating with graphene (G) as the carburising agent. The microstructure, mechanical properties, and tribological properties of TiC coating under different lubricants were investigated. Results showed that TiC coating was closely bonded to the titanium substrate. The maximum thickness of TiC coating treated with 1150°C was approximately 184.02 μm, and the microhardness of alloys treated with 1100°C can achieve 1221.5 HV. All modified Ti15Mo alloys showed improved tribological performance compared to the original samples. The wear mechanisms of modified Ti15Mo alloys were abrasive wear and adhesive wear under the SBF lubricant, and the TiC coating was slightly peeled off. The overall friction coefficient and wear rate under 25% calf serum lubricant were lower than the SBF lubricant, and surface scratches were almost absent, and slight abrasive wear and adhesive wear occurred on the surface.