Metal-matrix self-lubricating composites can exhibit excellent tribological properties owing to the release of solid lubricant from the matrix and the formation of a lubricating film on the tribosurface. The coverage of the lubricating film on a worn surface significantly influences the sliding process. However, it is difficult to quantify the film coverage owing to the thin and discontinuous character of the lubricating film and the high roughness of the worn surface. A quantitative characterization of the lubricating film coverage based on X-ray photoelectron spectroscopy (XPS) analysis was developed in this study. The friction tests of Cu-MoS₂ composites with a MoS₂ content of 0-40 vol% were conducted, and the worn surfaces of the composites were observed and analyzed. Further, the influence of the MoS₂ volume content on the coverage of the lubricating film on the worn surface was investigated. The relationships among the volume fraction of the lubricant, coverage of the lubricating film, and the friction coefficient were established. The friction model for the metal matrix self-lubricating composites was developed and verified to facilitate the composition design and friction coefficient prediction of self-lubricating composites.