In order to investigate the influence of sepiolite minerals on the normal force of magnetorheological grease (MRG), a mixed sample (ALCH) on the basis of preparing an aluminum–lithium-based magnetorheological grease (base sample ALC), containing sepiolite was further prepared. The field-dependent normal force of the two samples was tested using a rotational rheometer, considering conditions such as magnetic field, time, strain amplitude, frequency, and temperature, and the results were compared. The results indicate that sepiolite limits the field dependent normal force of the magnetorheological grease under steady state shear, and is unaffected by magnetic field, time, temperature, and shear rate. Sepiolite has minimal impact on the transient response of the magnetorheological grease. Under oscillatory shear, the magnetic field is an important factor influencing the field-dependent normal force response of the sepiolite-magnetorheological grease (ALCH). At low magnetic fields, the field-dependent normal force of the sepiolite-containing sample (ALCH) is greater than that of the base sample (ALC), while this relationship is reversed at high magnetic fields, unaffected by other factors. Under long-term shear conditions, both samples exhibit good shear stability, as well as consistency at different frequencies and strain amplitudes. However, an increase in shear rate reduces the normal force, and temperature also affects the field-dependent normal force. The patterns of variation in steady-state and oscillatory shear modes are not entirely the same, but both exhibit a characteristic decrease with increasing temperature under high magnetic field intensities. Sepiolite can reduce the temperature sensitivity of the normal force of the magnetorheological grease. In conclusion, the introduction of sepiolite is beneficial for the application of magnetorheology in high-precision devices.