Zirconium phosphate (α-ZrP) was modified by o-phenylenediamine (OPD) grafting to its surface, named ZPD, and used to improve thermal-oxidative stability of nitrile butadiene rubber (NBR) by direct blending method. The results of Fourier transform infrared spectroscopy, thermogravimetric analysis (TGA), X-ray diffraction, and contact angle test, demonstrated that OPD was grafted to the surface of α-ZrP successfully. Scanning electron microscopy results showed that OPD could effectively improve the interaction between α-ZrP and NBR and a better the dispersion of α-ZrP in the rubber matrix. The fracture strength of the NBR composites was increased by 3.3 Mpa with the addition of 3 phr ZPD fillers, respectively, compared with unmodified NBR/α-ZrP composites. In addition, TGA, DMA, and FWO analysis showed ZPD fillers, combined lamellar barrier of α-ZrP with radical trapping ability of OPD, could retard oxidative cross-linking and fracture reaction of rubber chains, and improve the thermal-oxidative aging resistance of the NBR composites. This work provides a practical and effective methodology for surface modification of α-ZrP and preparation of high-performance NBR composites.