Farming in China’s rural areas leads to antibiotic pollution in waterbodies making it a grave issue. Cotton straw biochar (CSBC) was prepared by oxygen-limited pyrolysis at 400 °C (CSBC400) and 600 °C (CSBC600); and Mn-modified CSBC (MCSBC) was produced by the KMnO4 wrapping method for tetracycline (TC) removal from aqueous solutions. The effects of temperature, initial solution concentration, pH, ion type, and ionic strength on TC adsorption were investigated. The adsorption process of the biochars achieved an equilibrium state after 360 min, and the highest equilibrium adsorption amount (13.254 mg/g) was found for MCSBC. The kinetic adsorption process, which was dominated by chemisorption, was well-described by the pseudo-second-order kinetic model. The adsorption was a non-homogeneous heat absorption process, and the adsorption isotherm data fitting was compatible with the Freundlich model. A better adsorption effect of MCSBC was observed when the pH was < 4. Monovalent cations (Na+, K+, NH4+, and Ca2+) had a facilitative effect on the adsorption process. The adsorption mechanisms of TC by MCSBC included pore diffusion, H bonding, electrostatic interactions, and π–π accumulation. Therefore, MCSBC has a good adsorption capacity for TC and can be used for the treatment of TC-based pollutants in aqueous environments.