Influence of surface topography on torsional fretting under flat-on-flat contact were investigated. Contact surfaces of the lower specimens were prepared by milling with different initial surface roughness while the upper specimens were polished. Results indicate that with the increase of surface roughness, friction torque and accumulated dissipated energy present a first increase and then decrease tendency and are higher when the texture is perpendicular to the relative movement direction. The wear volume and wear rate present increasing and decreasing tendencies separately for textures parallel and perpendicular to the relative movement direction, and they are higher when the texture is parallel to the relative movement direction. The results can provide guidance for the initial surface design to reduce fretting wear.