<p>Due to machining errors and fatigue damage, the surfaces of bearing raceways and rolling elements are typically uneven. To explore how irregular surface morphology affects the time-varying contact characteristics between rolling elements and raceways, both contact forces and frictional forces are calculated by nonlinear Hertzian contact theory. Based on Newton's laws of motion and the Lagrange equation, a dynamic model of the cylindrical roller bearing is then developed, considering the effects of the surface roughness of raceways and rollers. The model is validated by comparing the simulated and measured acceleration responses. On the basis of the proposed bearing model, the influences of surface roughness on the contact behavior and vibration response of bearings are thoroughly analyzed. The results show that the contact characteristics between rollers and raceways vary over time and the contact force fluctuates due to surface roughness. Additionally, as surface roughness increases, the fluctuations in contact force and vibration levels intensify, although the bearing's varying compliance frequency gradually diminishes. This study advances bearing modeling technology and offers valuable insights for bearing fault diagnosis.</p>